A Splitting Architecture for Exact Reduced Coulomb Friction

DOI10.1111/cgf.70576MaRDI QIDQ7284389arXivFDO

Authors Uri M. Ascher, Dinesh K. Pai, Hongcheng Song, Ye Fan

Publication date 21 July 2026

Published in arXiv

Tldr We propose a splitting architecture for exact reduced Coulomb friction, exploiting its structure to separate an easy cone-constrained quadratic program from a non-associated scalar coupling, which is updated explicitly in an outer iteration. This design allows us to reproduce exact Coulomb friction without modifying the Coulomb law or solving it monolithically.

Full work available at URL https://doi.org/10.1111/cgf.70576

arXiv classification

cs.GRcs.ROmath.NA

Cites work

• A first course in numerical methods
• A formulation of the linear discrete Coulomb friction problem via convex optimization
• Clarabel: An interior-point solver for conic programs with quadratic objectives
• Operator splitting for a homogeneous embedding of the linear complementarity problem
• Projective dynamics: fusing constraint projections for fast simulation
• Solving variational inequalities and cone complementarity problems in nonsmooth dynamics using the alternating direction method of multipliers
• The bipotential method: a constructive approach to design the complete contact law with friction and improved numerical algorithms.

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