Primal/dual descent methods for dynamics

Research output: Contribution to journal › Conference article › Research › peer-review

Standard

Primal/dual descent methods for dynamics. / Macklin, M.; Erleben, K.; Müller, M.; Chentanez, N.; Jeschke, S.; Kim, T. Y.

In: Computer Graphics Forum, Vol. 39, No. 8, 2020, p. 89-100.

Research output: Contribution to journal › Conference article › Research › peer-review

Harvard

Macklin, M, Erleben, K, Müller, M, Chentanez, N, Jeschke, S & Kim, TY 2020, 'Primal/dual descent methods for dynamics', Computer Graphics Forum, vol. 39, no. 8, pp. 89-100. https://doi.org/10.1111/cgf.14104

APA

Macklin, M., Erleben, K., Müller, M., Chentanez, N., Jeschke, S., & Kim, T. Y. (2020). Primal/dual descent methods for dynamics. Computer Graphics Forum, 39(8), 89-100. https://doi.org/10.1111/cgf.14104

Vancouver

Macklin M, Erleben K, Müller M, Chentanez N, Jeschke S, Kim TY. Primal/dual descent methods for dynamics. Computer Graphics Forum. 2020;39(8):89-100. https://doi.org/10.1111/cgf.14104

Author

Macklin, M. ; Erleben, K. ; Müller, M. ; Chentanez, N. ; Jeschke, S. ; Kim, T. Y. / Primal/dual descent methods for dynamics. In: Computer Graphics Forum. 2020 ; Vol. 39, No. 8. pp. 89-100.

Bibtex

@inproceedings{38f78c39f39442caaacc60f601b8ceec,
title = "Primal/dual descent methods for dynamics",
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.",
keywords = "Contact, Friction, Numerical optimization, Robotics",
author = "M. Macklin and K. Erleben and M. M{\"u}ller and N. Chentanez and S. Jeschke and Kim, {T. Y.}",
note = "Publisher Copyright: {\textcopyright} 2020 ACM. All rights reserved.; 2020 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA 2020 ; Conference date: 06-10-2020 Through 09-10-2020",
year = "2020",
doi = "10.1111/cgf.14104",
language = "English",
volume = "39",
pages = "89--100",
journal = "Computer Graphics Forum",
issn = "1467-8659",
publisher = "Wiley-Blackwell",
number = "8",

}

RIS

TY - GEN

T1 - Primal/dual descent methods for dynamics

AU - Macklin, M.

AU - Erleben, K.

AU - Müller, M.

AU - Chentanez, N.

AU - Jeschke, S.

AU - Kim, T. Y.

N1 - Publisher Copyright: © 2020 ACM. All rights reserved.

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

KW - Contact

KW - Friction

KW - Numerical optimization

KW - Robotics

UR - http://www.scopus.com/inward/record.url?scp=85097342057&partnerID=8YFLogxK

U2 - 10.1111/cgf.14104

DO - 10.1111/cgf.14104

M3 - Conference article

AN - SCOPUS:85097342057

VL - 39

SP - 89

EP - 100

JO - Computer Graphics Forum

JF - Computer Graphics Forum

SN - 1467-8659

IS - 8

T2 - 2020 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA 2020

Y2 - 6 October 2020 through 9 October 2020

ER -

ID: 307086130