Awesome Multibody Dynamics Simulation

A curated list of resources for multibody dynamics simulation

Papers

1. Multibody Dynamics Formulation

Geometric Formulation

• A Recursive Multibody Dynamics and Sensitivity Algorithm for Branched Kinematic Chains (2001), G Sohl and J. Bobrow. [pdf]
• Coordinate-invariant Algorithms for Robot Dynamics (1999), S. Ploen and F. Park. [pdf]
• A Lie Group Formulation of Robot Dynamics (1995), F. Park et al. [pdf]

Geometric Integration

• Geometric Integration on Euclidean Group with Application to Articulated Multibody Systems (2005), J. Park and W.-K. Chung. [pdf]

Inverse Dynamics

• Inverse Dynamics with Rigid Contact and Friction (2017), S. Zapolsky and E. Drumwright. [pdf]

2. Contact / Collision

• Resolving Force Indeterminacy in Contact Dynamics Using Compatibility Conditions (2018), T. Olsen and K. Kamrin. [pdf]
• Posing Multibody Dynamics with Friction and Contact as a Differential Complementarity Problem (2018), D. Negrut et al. [pdf]
• Analysis and Computation of Two Body Impact in Three Dimensions (2017), Y.-B. Jia and F. Yang. [pdf]
• Rigid Body Contact Problems using Proximal Operators (2017), K. Erleben. [pdf]
• Making a Meaningful Impact: Modelling Simultaneous Frictional Collisions in Spatial Multibody Systems (2015), T. Uchida et al. [pdf]
• Performance of a Method for Formulating Geometrically Exact Complementarity Constraints in Multibody Dynamic Simulation (2015), D. Flickinger et al. [pdf]
• What’s Wrong with Collision Detection in Multibody Dynamics Simulation? (2013), D. Flickinger et al. [pdf]
• Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation using the Principle of Maximum Dissipation (2011), E. Drumwright and D. Shell. [pdf]
• Staggered Projections for Frictional Contact in Multibody Systems (2008), D. Kaufman et al. [pdf]
• Velocity-Based Shock Propagation for Multibody Dynamics Animation (2007), K. Erleben. [pdf]
• An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Inelastic Collisions and Coulomb Friction (1996), D. Stewart and J. Trinkle. [pdf]
• Impulse-based Simulation of Rigid Bodies (1995), B. Mirtich and J. Canny. [pdf]

Non-LCP based Methods

• Multi-contact Frictional Rigid Dynamics using Impulse Decomposition (2017), S. Li et al. [pdf]
• Fast Frictional Dynamics for Rigid Bodies (2005), D. Kaufman et al. [pdf]

Simultaneous Contact

• All's Well That Ends Well: Guaranteed Resolution of Simultaneous Rigid Body Impact (2017), E. Vouga et al. [pdf]
• Quadratic Contact Energy Model for Multi-impact Simulation (2015), T. Zhang et al. [pdf]
• Reflections on Simultaneous Impact (2012), B. Smith et al. [pdf]

Non-uniform Coefficient of Restitution Model

• Bounce Maps: An Improved Restitution Model for Real-Time Rigid-Body Impact (2017), J.-H. Wang et al. [pdf] [video]

3. Discrete Mechanics / Variational Integrators

Core / Overview

• General Techniques for Constructing Variational Integrators (2011), M. Leok and T. Shingel. [pdf]
• An Overview of Variational Integrators (2003), A. Lew et al. [pdf]
• Discrete Mechanics and Variational Integrators (2001), J. Marsden and M. West. [pdf]

Geometric Formulation

• Dual Quaternion Variational Integrator for Rigid Body Dynamic Simulation (2016), J. Xu and K. Halse. [arXiv]
• Discrete Geometric Optimal Control on Lie Groups (2011), M. Kobilarov and J. Marsden. [pdf]

High Order Convergence

• Surrogate Lagrangians for Variational Integrators: High Order Convergence with Low Order Schemes (20017), G. Torre and T. Murphey. [pdf]

Constrained Variational Integrators

• Hamilton's Principle as Variational Inequality for Mechanical Systems with Impact (2016), R. Leine et al. [pdf]
• Study of Newton's Cradle using a New Discrete Approach (2015), A. Rodriguez and A Bowling. [pdf]
• A Propagative Model of Simultaneous Impact: Existence, Uniqueness, and Design Consequences (2014), V. Seghete and T. Murphey. [pdf]
• Variational Solutions to Simultaneous Collisions between Multiple Rigid Bodies (2010), V. Seghete and T. Murphey. [pdf]
• Multiple Instantaneous Collisions in a Variational Framework (2009), V. Seghete and T. Murphey. [pdf]
• Variational Collision Integrators and Optimal Control (2008), D Pekarek and J. Marsden. [pdf]
• Variational Integrators for Constrained Dynamical Systems (2008), S. Leyendecker et al. [pdf]
• Nonsmooth Lagrangian Mechanics and Variational Collision Integrators (2003), R. Fetecau et al. [pdf]
• Time-discretized Variational Formulation of Non-smooth Frictional Contact (2002), A. Pandolfi et al. [pdf]

Multibody Dynamics

• A Linear-Time Variational Integrator for Multibody Systems (2016), J. Lee et al. [pdf]
• Scalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates (2009), E. Johnson and T. Murphey. [pdf]

Adaptive Time-stepping / Asynchronous Integration

• A variational approach to multirate integration for constrained systems (2013), S. Leyendecker and S. Ober-Blobaum. [pdf]
• Asynchronous Variational Integrators (2003), A. Lew et al. [pdf]

Stochastic Mechanics

• Stochastic Variational Integrators (2008), N. Bou-Rabee and H. Owhadi. [pdf]

Trajectory Optimization / DMOC

• Autonomous Suspended Load Operations via Trajectory Optimization and Variational Integrators (2017), G. Torre et al. [pdf]
• On the Benefits of Surrogate Lagrangians in Optimal Control and Planning Algorithms (2016), G. Torre and T. Murphey. [pdf]

ETC

• Modified equations for variational integrators applied to Lagrangians linear in velocities (2017), M. Vermeeren. [pdf]
• Variational Integrators for Structure-Preserving Filtering (2016), J. Schultz et al.

4. Position Based Dynamics

• ADMM ⊇ Projective Dynamics: Fast Simulation of General Constitutive Models (2016), R. Narain et al. [pdf]
• XPBD: Position-Based Simulation of Compliant Constrained Dynamics (2016), M. Macklin et al. [pdf]
• Stable Constrained Dynamics (2015), M. Tournier et al. [pdf]
• Position-Based Rigid Body Dynamics (2014), C. Deul et al. [pdf]
• Projective Dynamics: Fusing Constraint Projections for Fast Simulation (2014), S. Bouaziz et al. [pdf]
• Position Based Dynamics (2007), M. Müller et al. [pdf]

5. Deformable Body / Granular / Fluid Simulation

• Towards Real-time Simulation of Hyperelastic Materials (2016), T. Liu et al. [pdf]
• Interactive Constrained Dynamics for Rigid and Deformable Objects (2015), L. Vezzaro et al. [pdf]

6. Inverse Kinematics

• FABRIK: A Fast, Iterative Solver for the Inverse Kinematics Problem (2011), A. Aristidou and J. Lasenby. [pdf]
• Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints (2010), A. Escande et al. [pdf]
• An Inverse Kinematic Architecture Enforcing an Arbitrary Number of Strict Priority Levels (2003), P. Baerlocher and R. Boulic. [pdf]

7. Trajectory Optimization

• Motion Planning with Sequential Convex Optimization and Convex Collision Checking (2014), J. Schulman et al. [pdf] [more]
• Newton-Type Algorithms for Dynamics-Based Robot Movement Optimization (2005), S.-H. Lee et al. [pdf]

8. Applications

• SMASH: Physics-guided Reconstruction of Collisions from Videos (2017), A. Monszpart et al. [pdf] [video]

9. Survey

• Interactive Simulation of Rigid Body Dynamics in Computer Graphics (2014), J. Bender et al. [pdf]
• A Survey on Position-Based Simulation Methods in Computer Graphics (2014), J. Bender et al. [pdf]

10. Vehicle Dynamics

• Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain (2010), L. Ding et al. [pdf]

Tire/Road model

• Integrated Longitudinal and Lateral Tire/Road Friction Modeling and Monitoring for Vehicle Motion Control (2006), L. Li et al. [pdf]

11. Cloth Simulation

• I-Cloth: Incremental Collision Handling for GPU-Based Interactive Cloth Simulation (2018), M. Tang et al. [[project](I-Cloth: Incremental Collision Handling for GPU-Based Interactive Cloth Simulation)]

Thesis

• Discrete Mechanics and Optimal Control for Space Trajectory Design (2011), A. Moore. [pdf]
• Stable, Robust, and Versatile Multibody Dynamics Animation (2004), K. Erleben. [pdf]

Slides / Lectures

• Multibody Dynamics Animation, K. Erleben. [pdf]

Thesis

• Variational Integrators (2004), M. West. [pdf]

Books

• Modern Robotics: Mechanics, Planning, and Control (2017), K. Lynch and F. Park. [pdf]
• Numerical Methods for Linear Complementarity Problems in Physics-Based Animation (2015), S. Niebe and K. Erleben. [pdf]
• Guide to Dynamic Simulations of Rigid Bodeis and Particle Systems (2012), M. Coutinho. [web]
• Rigid Body Dynamics Algorithms (2008), R. Featherstone. [pdf]
• A Mathematical Introduction to Robotic Manipulation (1994), R. Murray et al. [pdf]
• The Linear Complementarity Problem (1992), R. Cottle et al. [web]

Relevant Awesome Lists

• Awesome Robotics (ahundt)
• Awesome Robotics (Kiloreux)
• Awesome Robotics Libraries
• Awesome Collision Detection
• Awesome Gazebo

License