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We present a convex formulation of compliant frictional contact and a robust, performant method to solve it in practice.
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A. Tasora, D. Mangoni, S. Benatti, and R. Garziera, “Solving variational inequalities and cone complementarity problems in nonsmooth dynamics using the alternating direction method of multipliers,” International Journal for Numerical Methods in Engineering , vol. 122, no. 16, pp. 4093–4113, 2021
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