We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The incorporates new corotational material model with positive semi-definite Hessian, which allows us to extend our previous work on the of compliant contact large body deformations. rigorously characterize approximations implementation details. With proven global convergence, effec...

This paper focuses on the soft contact-based rigid object manipulation. First, a dynamic model of an object manipulation by two-fingered robot hand with soft fingertips is presented. In particular, we deal with a planar case to show certain valuable features in softfingertiped manipulation tasks. Next, in order to analyze the motion of using soft fingertips, a dynamic manipulation control schem...