Modular and Parallelizable Multibody Physics Simulation via Subsystem-Based ADMM

In this paper, we present a new multibody physics simulation framework that utilizes the subsystem-based struc-ture and the Alternating Direction Method of Multiplier (ADMM). The major challenge in simulating complex high degree of freedom systems is a large number of coupled con-straints and large-sized matrices. To address this challenge, we first split the multibody into several subsystems and reformulate the dynamics equation into a subsystem perspective based on the structure of their interconnection. Then we utilize ADMM with our novel subsystem-based variable splitting scheme to solve the equation, which allows parallelizable and modular architecture. The resulting algorithm is fast, scalable, versatile, and converges well while maintaining solution consistency. Sev-eral illustrative examples are implemented with performance evaluation results showing advantages over other state-of-the-art algorithms.

Authors

• Jeongmin Lee 0002
• Minji Lee
• Dongjun Lee

Keywords

• Performance evaluation
• Automation
• Heuristic algorithms
• Mathematical models
• Convex functions
• Physics
• Parallelization
• Physical Simulation
• Degrees Of Freedom
• New Physics
• Degree Of Freedom System
• Time Step
• Computation Time
• Lagrange Multiplier
• Rigid Body
• Poisson’s Ratio
• Linear Problem
• Robotic Arm
• Auxiliary Variables
• Types Of Constraints
• Hard Constraints
• Granular Material
• Soft Constraints
• Constraint Satisfaction
• Multibody System
• Simulated Robot
• Total Dimension
• Mobile Manipulator
• Error Constraint
• Subsystem Dynamics
• Deformable Body
• Contact Conditions
• Finite Element