A nonsmooth nonlinear conjugate gradient method for interactive contact force problems

Research output: Contribution to journal › Conference article › Research › peer-review

Standard

A nonsmooth nonlinear conjugate gradient method for interactive contact force problems. / Silcowitz, Morten; Abel, Sarah Maria Niebe; Erleben, Kenny.

In: The Visual Computer, Vol. 26, No. 6, 2010, p. 893-901.

Research output: Contribution to journal › Conference article › Research › peer-review

Harvard

Silcowitz, M, Abel, SMN & Erleben, K 2010, 'A nonsmooth nonlinear conjugate gradient method for interactive contact force problems', The Visual Computer, vol. 26, no. 6, pp. 893-901. https://doi.org/10.1007/s00371-010-0502-6

APA

Silcowitz, M., Abel, S. M. N., & Erleben, K. (2010). A nonsmooth nonlinear conjugate gradient method for interactive contact force problems. The Visual Computer, 26(6), 893-901. https://doi.org/10.1007/s00371-010-0502-6

Vancouver

Silcowitz M, Abel SMN, Erleben K. A nonsmooth nonlinear conjugate gradient method for interactive contact force problems. The Visual Computer. 2010;26(6):893-901. https://doi.org/10.1007/s00371-010-0502-6

Author

Silcowitz, Morten ; Abel, Sarah Maria Niebe ; Erleben, Kenny. / A nonsmooth nonlinear conjugate gradient method for interactive contact force problems. In: The Visual Computer. 2010 ; Vol. 26, No. 6. pp. 893-901.

Bibtex

@inproceedings{05c726b8e9d645efb87a667b352a5b84,
title = "A nonsmooth nonlinear conjugate gradient method for interactive contact force problems",
abstract = "Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. The contact force problem can be formulated in the form of a nonlinear complementarity problem (NCP), which can be solved using an iterative splitting method, such as the projected Gauss–Seidel (PGS) method. We present a novel method for solving the NCP problem by applying a Fletcher–Reeves type nonlinear nonsmooth conjugate gradient (NNCG) type method. We analyze and present experimental convergence behavior and properties of the new method. Our results show that the NNCG method has at least the same convergence rate as PGS, and in many cases better. ",
author = "Morten Silcowitz and Abel, {Sarah Maria Niebe} and Kenny Erleben",
year = "2010",
doi = "10.1007/s00371-010-0502-6",
language = "English",
volume = "26",
pages = "893--901",
journal = "Visual Computer",
issn = "0178-2789",
publisher = "Springer",
number = "6",

}

RIS

TY - GEN

T1 - A nonsmooth nonlinear conjugate gradient method for interactive contact force problems

AU - Silcowitz, Morten

AU - Abel, Sarah Maria Niebe

AU - Erleben, Kenny

PY - 2010

Y1 - 2010

N2 - Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. The contact force problem can be formulated in the form of a nonlinear complementarity problem (NCP), which can be solved using an iterative splitting method, such as the projected Gauss–Seidel (PGS) method. We present a novel method for solving the NCP problem by applying a Fletcher–Reeves type nonlinear nonsmooth conjugate gradient (NNCG) type method. We analyze and present experimental convergence behavior and properties of the new method. Our results show that the NNCG method has at least the same convergence rate as PGS, and in many cases better.

AB - Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. The contact force problem can be formulated in the form of a nonlinear complementarity problem (NCP), which can be solved using an iterative splitting method, such as the projected Gauss–Seidel (PGS) method. We present a novel method for solving the NCP problem by applying a Fletcher–Reeves type nonlinear nonsmooth conjugate gradient (NNCG) type method. We analyze and present experimental convergence behavior and properties of the new method. Our results show that the NNCG method has at least the same convergence rate as PGS, and in many cases better.

U2 - 10.1007/s00371-010-0502-6

DO - 10.1007/s00371-010-0502-6

M3 - Conference article

VL - 26

SP - 893

EP - 901

JO - Visual Computer

JF - Visual Computer

SN - 0178-2789

IS - 6

ER -

ID: 32148428