The DOI matches its Crossref record; 18 of the 19 references it cites were found in a registry or an index.
Per-Contact Iteration Method for Solving Contact Dynamics
Open accessAbstract
This letter introduces a new iterative method for contact dynamics problems. The proposed method is based on an efficient bisection method which iterates over each contact. We compared our approach to two existing ones for the same model and found that it is about twice as fast as the existing ones. We also introduce four different robotic simulation experiments and compare the proposed method to the most common contact solver, the projected Gauss-Seidel (PGS) method. We show that, while both methods are very efficient in solving simple problems, the proposed method significantly outperforms the PGS method in more complicated contact scenarios. Simulating one time step of an 18-DOF quadruped robot with multiple contacts took less than 20 μs with a single core of a CPU. This is at least an order of magnitude faster than many other simulators which employ multiple relaxation methods to the major dynamic principles in order to boost their computational speed. The proposed simulation method is also stable at 50 Hz due to its strict adherence to the dynamical principles. Although the accuracy might be compromised at such a low update rate, this means that we can simulate an 18-DOF robot more than thousand times faster than the real time.
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“Present-day technology is severely limited in its ability to simulate compliant contact, slippage, and deformable and crumbling terrain. As a result, phenomena such as mud, snow, thick vegetation, gushing water, and many others are beyond the capabilities of robotics simulation frameworks [30-32].”
From Learning quadrupedal locomotion over challenging terrain (2020) · cites this paper as [30]
Citations
Cites
Iterative Solution of Nonlinear Equations in Several Variables
Ortega, J. M., & Rheinboldt, W. C. (2000) · Society for Industrial and Applied Mathematics eBooks · doi:10.1137/1.9780898719468 · Cited by 6,919
MuJoCo: A physics engine for model-based control
Todorov, E., Erez, T., & Tassa, Y. (2012) · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2012.6386109 · Cited by 4,767
Rigid Body Dynamics Algorithms
Featherstone, R. (2008) · Springer eBooks · doi:10.1007/978-1-4899-7560-7 · Cited by 1,425
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969 · cited 8×
“We test the following four scenarios: • Trotting: The model of ANYmal runs forward at 1.5 m/s with its legs moving in diagonal pairs.”
MethodInfluentialSelf-citationStewart, D. E., & Trinkle, J. (1996) · International Journal for Numerical Methods in Engineering · doi:10.1002/(sici)1097-0207(19960815)39:15 · Cited by 636
Control of a Quadrotor With Reinforcement Learning
Hwangbo, J., Sa, I., Siegwart, R., & Hutter, M. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2720851 · Cited by 634
Self-citationde Saxcé, G., & Feng, Z. (1998) · Mathematical and Computer Modelling · doi:10.1016/s0895-7177(98)00119-8 · Cited by 202
Anitescu, M., & Hart, G. D. (2004) · International Journal for Numerical Methods in Engineering · doi:10.1002/nme.1047 · Cited by 118
Heyn, T. D., Anitescu, M., Tasora, A., & Negruţ, D. (2013) · International Journal for Numerical Methods in Engineering · doi:10.1002/nme.4513 · Cited by 58
A fixed-point iteration approach for multibody dynamics with contact and small friction
Anitescu, M., & Hart, G. D. (2004) · Mathematical Programming · doi:10.1007/s10107-004-0535-6 · Cited by 54
Cited by
Sorted by citations
Learning agile and dynamic motor skills for legged robots
Hwangbo, J., Lee, J., Dosovitskiy, A., Bellicoso, D., Tsounis, V., Koltun, V., & Hutter, M. (2019) · Science Robotics · doi:10.1126/scirobotics.aau5872 · Cited by 1,482
“rs (as provided in [22, 54]) for all learning sessions presented in this paper. We used a fast custom implementation of the algorithm [55]. This efficient implementation and fast rigid-body simulation [41] allowed us to generate and process about a quarter of a billion state transitions in roughly four hours. A learnin…”
MethodInfluentialSelf-citationLearning quadrupedal locomotion over challenging terrain
Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020) · Science Robotics · doi:10.1126/scirobotics.abc5986 · Cited by 1,156
Self-citationLearning robust perceptive locomotion for quadrupedal robots in the wild
Miki, T., Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2022) · Science Robotics · doi:10.1126/scirobotics.abk2822 · Cited by 973
“We use RaiSim [58] as our simulator to build the training environment.”
MethodSelf-citationLearning quadrupedal locomotion over challenging terrain
Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000448343 · Cited by 752
Self-citationA Review of Physics Simulators for Robotic Applications
Collins, J., Chand, S., Vanderkop, A., & Howard, D. (2021) · IEEE Access · doi:10.1109/access.2021.3068769 · Cited by 309
“…Asynchronous Multi-Body Framework [4], (c) manipulation in PyBullet [5], (d) dexterous manipulation in MuJoCo [6], (e) legged locomotion in RaiSim [7] and (f) underwater vehicles in URSim [8]. phenomenon, (ii) collision detection and friction models, (iii) Graphical User Interface (GUI), (iv)…”
BackgroundMethod
Metadata
- Authors
- Hwangbo, J., Lee, J., & Hutter, M.
- Affiliations
- ETH Zurich (CH)
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2018-04
- Volume
- 3
- Issue
- 2
- Pages
- 895-902
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2779458783
- Cited by
- 243
- References
- 19
- Citations by year
- 2026: 20 · 2025: 43 · 2024: 41 · 2023: 42 · 2022: 49 · 2021: 33 · 2020: 12 · 2019: 2 · 2018: 1
- FWCI
- 7.43
- Type
- journal article
- Language
- en
- Open access
- green
- hdl.handle.net
- Locations
- IEEE Robotics and Automation Letters (publishedVersion)
- Repository for Publications and Research Data (ETH Zurich) (submittedVersion, other-oa)
- ETH Zürich Research Collection
- Funders
- Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung
- National Centre of Competence in Research Robotics and Project (200021-166232)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Computational Mechanics › Contact Mechanics and Variational Inequalities
- Keywords
- contact dynamics, bisection method, computational efficiency
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