NDLI: A nonsmooth nonlinear conjugate gradient method for interactive contact force problems

Content Provider	Springer Nature Link
Author	Silcowitz Hansen, Morten Niebe, Sarah Erleben, Kenny
Copyright Year	2010
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.
Starting Page	893
Ending Page	901
Page Count	9
File Format	PDF
ISSN	01782789
Journal	The Visual Computer
Volume Number	26
Issue Number	6-8
e-ISSN	14322315
Language	English
Publisher	Springer-Verlag
Publisher Date	2010-04-17
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Contact force computation Rigid body simulation Nonsmooth conjugate gradients Image Processing and Computer Vision Artificial Intelligence (incl. Robotics) Computer Graphics
Content Type	Text
Resource Type	Article
Subject	Computer Graphics and Computer-Aided Design Computer Vision and Pattern Recognition Software

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