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— Contact dynamics are commonly formulated as a linear complementarity problem. While this approach is superior to earlier spring-damper models, it can be inaccurate due to pyram...
For a mathematical program with complementarity constraints (MPCC), we propose an active-set Newton method, which has the property of local quadratic convergence under the MPCC lin...
— In this paper we present an implicit time-stepping scheme for multibody systems with intermittent contact by incorporating the contact constraints as a set of complementarity a...
Nilanjan Chakraborty, Stephen Berard, Srinivas Ake...