REDMAX: Efficient & Flexible Approach for Articulated Dynamics

NEW: We now have an analytically differentiable version! See the the notes and the reference MATLAB implementation.

Contents

• notes.pdf: An extensive writeup with details on:
  • Maximal coordinates
  • Reduced coordinates
  • Analytical derivatives
  • Implicit integration
  • Adjoint method
• matlab-diff: Object-oriented MATLAB implementation of differentiable redmax
  • Fully implicit time integration: BDF1 and BDF2
  • Parameter optimization with the adjoint method
  • Frictional contact with the ground [Geilinger et al. 2020]
• matlab-simple: Simpler object-oriented MATLAB implementation for getting started
• matlab: Object-oriented MATLAB implementation with many features, including:
  • Recursive hybrid dynamics (Featherstone's algorithm) for comparison
  • Time integration using ode45 or euler
  • Frictional dynamics with Bilateral Staggered Projections
  • Spline curve and surface joints [Lee and Terzopoulos 2008]
• c++: C++ implementation including Projected Block Jacobi Preconditioner

Citation

ACM Transactions on Graphics, 38 (4) 104:1-104:10 (SIGGRAPH), 2019.

Ying Wang, Nicholas J. Weidner, Margaret A. Baxter, Yura Hwang, Danny M. Kaufman, Shinjiro Sueda

@article{Wang2019,
  author = {Wang, Ying and Weidner, Nicholas J. and Baxter, Margaret A. and Hwang, Yura and Kaufman, Danny M. and Sueda, Shinjiro},
  title = {\textsc{RedMax}: Efficient \& Flexible Approach for Articulated Dynamics},
  year = {2019},
  issue_date = {July 2019},
  publisher = {ACM},
  address = {New York, NY, USA},
  volume = {38},
  number = {4},
  issn = {0730-0301},
  url = {https://doi.org/10.1145/3306346.3322952},
  doi = {10.1145/3306346.3322952},
  journal = {{ACM} Trans.\ Graph.},
  month = jul,
  articleno = {104},
  numpages = {10},
  keywords = {friction, rigid body dynamics, physical simulation, constraints, contact}
}