{"id":"https://openalex.org/W2972859759","doi":"https://doi.org/10.1109/lra.2020.2969933","title":"A Transition-Aware Method for the Simulation of Compliant Contact With Regularized Friction","display_name":"A Transition-Aware Method for the Simulation of Compliant Contact With Regularized Friction","publication_year":2020,"publication_date":"2020-01-28","ids":{"openalex":"https://openalex.org/W2972859759","doi":"https://doi.org/10.1109/lra.2020.2969933","mag":"2972859759"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2969933","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969933","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.05700","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Alejandro M. Castro","orcid":"https://orcid.org/0000-0003-3049-0066"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alejandro M. Castro","raw_affiliation_strings":["Toyota Research Institute, One Kendall Square, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0003-3049-0066","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, One Kendall Square, Cambridge, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ante Qu","orcid":"https://orcid.org/0000-0002-1635-0721"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ante Qu","raw_affiliation_strings":["Stanford University, Computer Science, Stanford, USA","Toyota Research Institute, One Kendall Square, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0002-1635-0721","affiliations":[{"raw_affiliation_string":"Stanford University, Computer Science, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Toyota Research Institute, One Kendall Square, Cambridge, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Naveen Kuppuswamy","orcid":"https://orcid.org/0000-0003-4363-9501"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naveen Kuppuswamy","raw_affiliation_strings":["Toyota Research Institute, One Kendall Square, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0003-4363-9501","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, One Kendall Square, Cambridge, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Alex Alspach","orcid":"https://orcid.org/0000-0003-1613-3724"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Alspach","raw_affiliation_strings":["Toyota Research Institute, One Kendall Square, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0003-1613-3724","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, One Kendall Square, Cambridge, USA","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":null,"display_name":"Michael Sherman","orcid":"https://orcid.org/0000-0001-5002-886X"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Sherman","raw_affiliation_strings":["Toyota Research Institute, One Kendall Square, Cambridge, USA"],"raw_orcid":"https://orcid.org/0000-0001-5002-886X","affiliations":[{"raw_affiliation_string":"Toyota Research Institute, One Kendall Square, Cambridge, USA","institution_ids":["https://openalex.org/I4391768151"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4391768151"],"apc_list":null,"apc_paid":null,"fwci":1.7854,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.84165837,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"1859","last_page":"1866"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.8978000283241272,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.8978000283241272,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.030700000002980232,"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/T12809","display_name":"Contact Mechanics and Variational Inequalities","score":0.02199999988079071,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6869000196456909},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5424000024795532},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5205000042915344},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4474000036716461},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.44029998779296875},{"id":"https://openalex.org/keywords/coulomb-friction","display_name":"Coulomb friction","score":0.41029998660087585},{"id":"https://openalex.org/keywords/nonlinear-complementarity-problem","display_name":"Nonlinear complementarity problem","score":0.4036000072956085},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4025999903678894},{"id":"https://openalex.org/keywords/complementarity","display_name":"Complementarity (molecular biology)","score":0.40070000290870667}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6869000196456909},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5424000024795532},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5205000042915344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48429998755455017},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4474000036716461},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.44029998779296875},{"id":"https://openalex.org/C2986328948","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coulomb friction","level":3,"score":0.41029998660087585},{"id":"https://openalex.org/C2778646529","wikidata":"https://www.wikidata.org/wiki/Q16948724","display_name":"Nonlinear complementarity problem","level":4,"score":0.4036000072956085},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4025999903678894},{"id":"https://openalex.org/C202269582","wikidata":"https://www.wikidata.org/wiki/Q2644277","display_name":"Complementarity (molecular biology)","level":2,"score":0.40070000290870667},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.39309999346733093},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3668000102043152},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36399999260902405},{"id":"https://openalex.org/C85404239","wikidata":"https://www.wikidata.org/wiki/Q5156417","display_name":"Complementarity theory","level":3,"score":0.3465000092983246},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3402000069618225},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32199999690055847},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.31220000982284546},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3075999915599823},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29339998960494995},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.27959999442100525},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2702000141143799},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C85522705","wikidata":"https://www.wikidata.org/wiki/Q3278015","display_name":"Line search","level":3,"score":0.25459998846054077},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2969933","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969933","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1909.05700","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.05700","pdf_url":"https://arxiv.org/pdf/1909.05700","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.05700","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.05700","pdf_url":"https://arxiv.org/pdf/1909.05700","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2499887605","display_name":null,"funder_award_id":"DGE-1656518","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1514487078","https://openalex.org/W1964837473","https://openalex.org/W1985640101","https://openalex.org/W1992116952","https://openalex.org/W2039269712","https://openalex.org/W2084399420","https://openalex.org/W2085897137","https://openalex.org/W2118262294","https://openalex.org/W2150513221","https://openalex.org/W2209762605","https://openalex.org/W2221818951","https://openalex.org/W2527750934","https://openalex.org/W2809769628","https://openalex.org/W2810200165","https://openalex.org/W2959076435","https://openalex.org/W2962899390","https://openalex.org/W2968116426","https://openalex.org/W3000650229","https://openalex.org/W3003653881","https://openalex.org/W6610191993","https://openalex.org/W6686824138"],"related_works":[],"abstract_inverted_index":{"Multibody":[0],"simulation":[1],"with":[2,30,53,60,77,120],"frictional":[3],"contact":[4,157],"has":[5,146],"been":[6],"a":[7,96,139,161],"challenging":[8],"subject":[9],"of":[10,26,88,106,128,172],"research":[11],"for":[12,91],"the":[13,24,41,86,104,107,125,167],"past":[14],"thirty":[15],"years.":[16],"Rigidbody":[17],"assumptions":[18],"are":[19],"commonly":[20],"used":[21],"to":[22,34,150,160],"approximate":[23],"physics":[25],"contact,":[27,51],"and":[28,72,170,174],"together":[29],"Coulomb":[31],"friction,":[32,55],"lead":[33],"challengingto-solve":[35],"nonlinear":[36],"complementarity":[37],"problems":[38],"(NCP).":[39],"On":[40],"other":[42],"hand,":[43],"robot":[44],"grippers":[45],"often":[46],"introduce":[47,95],"significant":[48],"compliance.":[49],"Compliant":[50],"combined":[52],"regularized":[54,66],"can":[56,131],"be":[57,132],"modeled":[58],"entirely":[59],"ODEs,":[61],"avoiding":[62],"NCP":[63],"solves.":[64],"Unfortunately,":[65],"friction":[67],"introduces":[68],"high-frequency":[69],"stiff":[70],"dynamics":[71],"even":[73],"implicit":[74,89,112],"methods":[75,152],"struggle":[76],"these":[78,92],"systems,":[79],"especially":[80],"during":[81],"slip-stick":[82],"transitions.":[83],"To":[84,134],"improve":[85],"performance":[87,171],"integration":[90],"systems":[93],"we":[94,137],"Transition-Aware":[97,140],"Line":[98],"Search":[99],"(TALS),":[100],"which":[101],"greatly":[102],"improves":[103],"convergence":[105],"Newton-Raphson":[108],"iterations":[109],"performed":[110],"by":[111],"integrators.":[113],"We":[114,165],"find":[115],"that":[116,124,145],"TALS":[117],"works":[118],"best":[119],"semi-implicit":[121,151],"integration,":[122],"but":[123,153],"explicit":[126],"treatment":[127],"normal":[129],"compliance":[130],"problematic.":[133],"address":[135],"this,":[136],"develop":[138],"Modified":[141],"SemiImplicit":[142],"(TAMSI)":[143],"integrator":[144],"similar":[147],"computational":[148],"cost":[149],"implicitly":[154],"couples":[155],"compliant":[156],"forces,":[158],"leading":[159],"more":[162],"robust":[163],"method.":[164],"evaluate":[166],"robustness,":[168],"accuracy":[169],"TAMSI":[173],"demonstrate":[175],"our":[176],"approach":[177],"alongside":[178],"relevant":[179],"sim-to-real":[180],"manipulation":[181],"tasks.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2019-09-19T00:00:00"}