Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Transition-Aware Method for the Simulation of Compliant Contact with
  Regularized Friction   Multibody simulation with frictional contact has been a challenging subject
of research for the past thirty years. Rigid-body assumptions are commonly used
to approximate the physics of contact, and together with Coulomb friction, lead
to challenging-to-solve nonlinear complementarity problems (NCP). On the other
hand, robot grippers often introduce significant compliance. Compliant contact,
combined with regularized friction, can be modeled entirely with ODEs, avoiding
NCP solves. Unfortunately, regularized friction introduces high-frequency stiff
dynamics and even implicit methods struggle with these systems, especially
during slip-stick transitions. To improve the performance of implicit
integration for these systems we introduce a Transition-Aware Line Search
(TALS), which greatly improves the convergence of the Newton-Raphson iterations
performed by implicit integrators. We find that TALS works best with
semi-implicit integration, but that the explicit treatment of normal compliance
can be problematic. To address this, we develop a Transition-Aware Modified
Semi-Implicit (TAMSI) integrator that has similar computational cost to
semi-implicit methods but implicitly couples compliant contact forces, leading
to a more robust method. We evaluate the robustness, accuracy and performance
of TAMSI and demonstrate our approach alongside relevant sim-to-real
manipulation tasks.

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The categories of this paper are: cond-mat
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The categories of this paper are: alg-geom
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The categories of this paper are: mtrl-th
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The categories of this paper are: hep-th
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The categories of this paper are: physics
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The categories of this paper are: quant-ph
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The categories of this paper are: math-ph
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The categories of this paper are: eess
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The categories of this paper are: nlin
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The categories of this paper are: cmp-lg
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The categories of this paper are: q-fin
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The categories of this paper are: q-bio
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The categories of this paper are: hep-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: econ
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The categories of this paper are: hep-ex