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GPU-Based Contact-Aware Trajectory Optimization Using A Smooth Force Model
We present a new formulation of trajectory optimization for articulated bodies. Our approach uses a fully differentiable dynamic model of the articulated body, and a smooth force model that approximates all kinds of ...
Fast Simulation of Deformable Characters with Articulated Skeletons in Projective Dynamics
We propose a fast and robust solver to simulate continuum-based deformable models with constraints, in particular, rigid-body and joint constraints useful for soft articulated characters. Our method embeds degrees of freedom ...