Non-smooth Newton methods for deformable multi-body dynamics

Miles Macklin; Kenny Erleben; Matthias Müller; Nuttapong Chentanez; Stefan Jeschke; Viktor Makoviychuk

doi:10.1145/3338695

Non-smooth Newton methods for deformable multi-body dynamics

Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, Viktor Makoviychuk

14 Citationer (Scopus)

Abstract

We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a nonsmooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs) directly. This approach allows us to support nonlinear dynamics models, including hyperelastic deformable bodies and articulated rigid mechanisms, coupled through a smooth isotropic friction model. The fixed-point nature of our method means it requires only the solution of a symmetric linear system as a building block.We propose a new complementarity preconditioner for NCP functions that improves convergence, and we develop an efficient GPU-based solver based on the conjugate residual (CR) method that is suitable for interactive simulations. We show how to improve robustness using a new geometric stiffness approximationand evaluate our method’s performance on a number of robotics simulation scenarios, including dexterous manipulation and training using reinforcement learning.

Originalsprog	Engelsk
Artikelnummer	140
Tidsskrift	ACM Transactions on Graphics
Vol/bind	38
Udgave nummer	5
Antal sider	9
ISSN	0730-0301
DOI	https://doi.org/10.1145/3338695
Status	Udgivet - 2019

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10.1145/3338695

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Citationsformater

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AU - Macklin, Miles

AU - Erleben, Kenny

AU - Müller, Matthias

AU - Chentanez, Nuttapong

AU - Jeschke, Stefan

AU - Makoviychuk, Viktor

PY - 2019

Y1 - 2019

N2 - We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a nonsmooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs) directly. This approach allows us to support nonlinear dynamics models, including hyperelastic deformable bodies and articulated rigid mechanisms, coupled through a smooth isotropic friction model. The fixed-point nature of our method means it requires only the solution of a symmetric linear system as a building block. We propose a new complementarity preconditioner for NCP functions that improves convergence, and we develop an efficient GPU-based solver based on the conjugate residual (CR) method that is suitable for interactive simulations. We show how to improve robustness using a new geometric stiffness approximation and evaluate our method's performance on a number of robotics simulation scenarios, including dexterous manipulation and training using reinforcement learning.

AB - We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a nonsmooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs) directly. This approach allows us to support nonlinear dynamics models, including hyperelastic deformable bodies and articulated rigid mechanisms, coupled through a smooth isotropic friction model. The fixed-point nature of our method means it requires only the solution of a symmetric linear system as a building block. We propose a new complementarity preconditioner for NCP functions that improves convergence, and we develop an efficient GPU-based solver based on the conjugate residual (CR) method that is suitable for interactive simulations. We show how to improve robustness using a new geometric stiffness approximation and evaluate our method's performance on a number of robotics simulation scenarios, including dexterous manipulation and training using reinforcement learning.

KW - Contact

KW - Friction

KW - Multi-body dynamics

KW - Numerical optimization

KW - Robotics

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Non-smooth Newton methods for deformable multi-body dynamics

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