# Velocity Level Approximation of Pressure Field Contact Patches

arXiv: https://arxiv.org/abs/2110.04157 · HTML: https://mlsanity.com/paper/2110.04157/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Oct 2021.

## Built on by (most cited first, 5 of 5)

- [AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer](https://mlsanity.com/paper/2302.04903/) (2023)
- [Robot Fleet Learning via Policy Merging](https://mlsanity.com/paper/2310.01362/) (2023)
- [HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning](https://mlsanity.com/paper/2603.00446/) (2026)
- [RUMI: Rummaging Using Mutual Information](https://mlsanity.com/paper/2408.10450/) (2024)
- [Bayesian Inverse Physics for Neuro-Symbolic Robot Learning](https://mlsanity.com/paper/2506.08756/) (2025)

## Abstract (arXiv)

Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of contact interface regions at rates much faster than elasticity-theory models, while at the same time predicting essential trends and capturing rich contact behavior. The PFC model was designed to work in conjunction with error-controlled integration at the acceleration level. Therefore a vast majority of existent multibody codes using solvers at the velocity level cannot incorporate PFC in its original form. In this work we introduce a discrete in time approximation of PFC making it suitable for use with existent velocity-level time steppers and enabling execution at real-time rates. We evaluate the accuracy and performance gains of our approach and demonstrate its effectiveness in simulating relevant manipulation tasks. The method is available in open source as part of Drake's Hydroelastic Contact model.