Contact Dynamic

Contact dynamics research focuses on understanding and modeling the interactions between objects in contact, particularly in robotic manipulation. Current efforts concentrate on developing computationally efficient and physically accurate models, employing techniques like model reduction (e.g., reduced subspace methods), complementarity-free formulations, and denoising diffusion models to handle the complexity of multi-contact scenarios and deformable objects. These advancements are crucial for improving the robustness and adaptability of robots in contact-rich tasks, bridging the sim-to-real gap, and enabling more sophisticated control strategies for dexterous manipulation and assembly.