Primal/Dual Descent Methods for Dynamics
| dc.contributor.author | Macklin, Miles | en_US |
| dc.contributor.author | Erleben, Kenny | en_US |
| dc.contributor.author | Müller, Matthias | en_US |
| dc.contributor.author | Chentanez, Nuttapong | en_US |
| dc.contributor.author | Jeschke, Stefan | en_US |
| dc.contributor.author | Kim, Tae-Yong | en_US |
| dc.contributor.editor | Bender, Jan and Popa, Tiberiu | en_US |
| dc.date.accessioned | 2020-10-16T06:25:10Z | |
| dc.date.available | 2020-10-16T06:25:10Z | |
| dc.date.issued | 2020 | |
| dc.description.abstract | We examine the relationship between primal, or force-based, and dual, or constraint-based formulations of dynamics. Variational frameworks such as Projective Dynamics have proved popular for deformable simulation, however they have not been adopted for contact-rich scenarios such as rigid body simulation. We propose a new preconditioned frictional contact solver that is compatible with existing primal optimization methods, and competitive with complementarity-based approaches. Our relaxed primal model generates improved contact force distributions when compared to dual methods, and has the advantage of being differentiable, making it well-suited for trajectory optimization. We derive both primal and dual methods from a common variational point of view, and present a comprehensive numerical analysis of both methods with respect to conditioning. We demonstrate our method on scenarios including rigid body contact, deformable simulation, and robotic manipulation. | en_US |
| dc.description.number | 8 | |
| dc.description.sectionheaders | Rigid Bodies | |
| dc.description.seriesinformation | Computer Graphics Forum | |
| dc.description.volume | 39 | |
| dc.identifier.doi | 10.1111/cgf.14104 | |
| dc.identifier.issn | 1467-8659 | |
| dc.identifier.pages | 89-100 | |
| dc.identifier.uri | https://doi.org/10.1111/cgf.14104 | |
| dc.identifier.uri | https://diglib.eg.org:443/handle/10.1111/cgf14104 | |
| dc.publisher | The Eurographics Association and John Wiley & Sons Ltd. | en_US |
| dc.subject | Computing methodologies | |
| dc.subject | Simulation by animation | |
| dc.subject | Interactive simulation | |
| dc.subject | Computer systems organization | |
| dc.subject | Robotics | |
| dc.title | Primal/Dual Descent Methods for Dynamics | en_US |