{"id":"https://openalex.org/W4416749323","doi":"https://doi.org/10.1109/iros60139.2025.11247449","title":"A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact","display_name":"A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749323","doi":"https://doi.org/10.1109/iros60139.2025.11247449"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120433624","display_name":"Onur Beker","orcid":null},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Onur Beker","raw_affiliation_strings":["University of T&#x00FC;bingen"],"affiliations":[{"raw_affiliation_string":"University of T&#x00FC;bingen","institution_ids":["https://openalex.org/I143910747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120478710","display_name":"Nico G\u00fcrtler","orcid":null},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nico G\u00fcrtler","raw_affiliation_strings":["University of T&#x00FC;bingen"],"affiliations":[{"raw_affiliation_string":"University of T&#x00FC;bingen","institution_ids":["https://openalex.org/I143910747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113811091","display_name":"Ji Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ji Shi","raw_affiliation_strings":["University of T&#x00FC;bingen"],"affiliations":[{"raw_affiliation_string":"University of T&#x00FC;bingen","institution_ids":["https://openalex.org/I143910747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050859842","display_name":"A. Ren\u00e9 Geist","orcid":null},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Ren\u00e9 Geist","raw_affiliation_strings":["University of T&#x00FC;bingen"],"affiliations":[{"raw_affiliation_string":"University of T&#x00FC;bingen","institution_ids":["https://openalex.org/I143910747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049327938","display_name":"Amirreza Razmjoo","orcid":"https://orcid.org/0000-0003-3826-6608"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Amirreza Razmjoo","raw_affiliation_strings":["Idiap Research Institute"],"affiliations":[{"raw_affiliation_string":"Idiap Research Institute","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001474340","display_name":"Georg Martius","orcid":"https://orcid.org/0000-0002-8963-7627"},"institutions":[{"id":"https://openalex.org/I143910747","display_name":"TH Bingen University of Applied Sciences","ror":"https://ror.org/01pxkj057","country_code":"DE","type":"education","lineage":["https://openalex.org/I143910747"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Martius","raw_affiliation_strings":["University of T&#x00FC;bingen"],"affiliations":[{"raw_affiliation_string":"University of T&#x00FC;bingen","institution_ids":["https://openalex.org/I143910747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute"],"affiliations":[{"raw_affiliation_string":"Idiap Research Institute","institution_ids":["https://openalex.org/I7495430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5120433624"],"corresponding_institution_ids":["https://openalex.org/I143910747"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48302626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"18558","last_page":"18565"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.31380000710487366,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.31380000710487366,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.24770000576972961,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.1362999975681305,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.6495000123977661},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5960000157356262},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5562000274658203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4950000047683716},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4562999904155731},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.44429999589920044},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.3959999978542328},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.37119999527931213}],"concepts":[{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.6495000123977661},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5960000157356262},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5562000274658203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5557000041007996},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5026999711990356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4950000047683716},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4562999904155731},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.44429999589920044},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3959999978542328},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.366100013256073},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3578000068664551},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.32580000162124634},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3199999928474426},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.31779998540878296},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.3149000108242035},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.26489999890327454},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26339998841285706},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2565000057220459},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2556000053882599},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.25}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247449","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W154144259","https://openalex.org/W618254468","https://openalex.org/W1969140852","https://openalex.org/W1973730326","https://openalex.org/W1992026489","https://openalex.org/W2041434319","https://openalex.org/W2130999229","https://openalex.org/W2158782408","https://openalex.org/W2163862895","https://openalex.org/W2166316739","https://openalex.org/W2478429860","https://openalex.org/W2617010780","https://openalex.org/W2749680651","https://openalex.org/W4229456580","https://openalex.org/W4241811150","https://openalex.org/W4293775970","https://openalex.org/W4298014976","https://openalex.org/W4312858517","https://openalex.org/W4383108947","https://openalex.org/W4383109321","https://openalex.org/W4385318467","https://openalex.org/W4386025948","https://openalex.org/W4388901983","https://openalex.org/W4390719155","https://openalex.org/W4401041654","https://openalex.org/W4410879364"],"related_works":[],"abstract_inverted_index":{"Generating":[0],"intelligent":[1,184],"robot":[2],"behavior":[3],"in":[4,28,61,110],"contact-rich":[5,62,185],"settings":[6,63],"is":[7,25,50,151],"a":[8,87,144,170],"research":[9],"problem":[10],"where":[11],"zeroth-order":[12,44],"methods":[13,24,45,55,181],"currently":[14],"prevail.":[15],"A":[16],"major":[17],"contributor":[18],"to":[19,53,98,182],"the":[20,29,104,154,163,166],"success":[21],"of":[22,31,40,72,90,153,156,165,179],"such":[23],"their":[26],"robustness":[27],"face":[30],"non-smooth":[32],"and":[33,59,74,80,93,112,131,147],"discontinuous":[34],"optimization":[35,124],"landscapes":[36],"that":[37,64,115,174],"are":[38,116],"characteristic":[39],"contact":[41,94],"interactions,":[42],"yet":[43],"remain":[46],"computationally":[47],"inefficient.":[48],"It":[49],"therefore":[51],"desirable":[52],"develop":[54],"for":[56,172],"perception,":[57],"planning":[58],"control":[60],"can":[65,175],"achieve":[66],"further":[67],"efficiency":[68],"by":[69],"making":[70],"use":[71],"first":[73],"second":[75],"order":[76],"information":[77],"(i.e.,":[78],"gradients":[79],"Hessians).":[81],"To":[82],"facilitate":[83,176],"this,":[84],"we":[85,161],"present":[86],"joint":[88],"formulation":[89,168],"collision":[91,140],"detection":[92],"modelling":[95],"which,":[96],"compared":[97],"existing":[99],"differentiable":[100],"simulation":[101,159],"approaches,":[102],"provides":[103],"following":[105],"benefits:":[106],"i)":[107],"it":[108,137],"results":[109],"forward":[111],"inverse":[113],"dynamics":[114],"entirely":[117],"analytical":[118],"(i.e.":[119,133],"do":[120],"not":[121],"require":[122],"solving":[123],"or":[125],"root-finding":[126],"problems":[127],"with":[128],"iterative":[129],"methods)":[130],"smooth":[132],"twice":[134],"differentiable),":[135],"ii)":[136],"supports":[138],"arbitrary":[139],"geometries":[141],"without":[142],"needing":[143],"convex":[145],"decomposition,":[146],"iii)":[148],"its":[149],"runtime":[150],"independent":[152],"number":[155],"contacts.":[157],"Through":[158],"experiments,":[160],"demonstrate":[162],"validity":[164],"proposed":[167],"as":[169],"\"physics":[171],"inference\"":[173],"future":[177],"development":[178],"efficient":[180],"generate":[183],"behavior.":[186]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
