Rigid Contact

Rigid contact modeling focuses on accurately simulating interactions between rigid bodies, crucial for robotics and other fields. Current research emphasizes developing efficient and robust algorithms, such as those based on nonlinear complementarity problems and physics-informed neural networks, to handle the complex dynamics of multi-point and compliant contacts. These advancements improve the accuracy and speed of simulations, enabling applications like more sophisticated robot control and granular material modeling, ultimately advancing the design and control of robots interacting with complex environments.