Multi Point Contact

Multi-point contact research focuses on understanding and controlling systems with multiple simultaneous interactions between objects, primarily in robotics. Current efforts concentrate on developing robust and efficient simulation methods, such as novel numerical integrators and contact-implicit model predictive control (MPC), to handle the complexity of these interactions, often incorporating advanced models like those based on convex approximations of contact mechanics. This work is crucial for advancing robotic manipulation, locomotion, and human-robot interaction, enabling more dexterous and adaptable robots capable of performing complex tasks in unstructured environments.