Velocity Level Approximation of Pressure Field Contact Patches

TL;DR

This paper introduces a discrete time approximation of Pressure Field Contact (PFC) that integrates with existing velocity-level multibody simulation codes, enabling real-time performance while maintaining accuracy in contact modeling.

Contribution

The paper presents a novel discrete in time approximation of PFC compatible with velocity-level solvers, facilitating real-time simulation of contact interfaces.

Findings

Achieves accurate contact modeling at real-time rates.

Demonstrates improved performance in manipulation task simulations.

Available as open source in Drake's Hydroelastic Contact model.

Abstract

Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich contact behavior. The PFC model was designed to work in conjunction with error-controlled integration at the acceleration level. Therefore a vast majority of existent multibody codes using solvers at the velocity level cannot incorporate PFC in its original form. In this work we introduce a discrete in time approximation of PFC making it suitable for use with existent velocity-level time steppers and enabling execution at real-time rates. We evaluate the accuracy and performance gains of our approach and demonstrate its effectiveness in simulating relevant manipulation tasks. The method is available in open source as part of Drake's Hydroelastic Contact model.