# A novel collision model for inextensible textiles and its experimental validation

arXiv: https://arxiv.org/abs/2303.14437 · HTML: https://mlsanity.com/paper/2303.14437/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Mar 2023.

## Built on by (most cited first, 2 of 2)

- [InstructionBench: An Instructional Video Understanding Benchmark](https://mlsanity.com/paper/2504.05040/) (2025)
- [Dynamic robotic cloth folding with efficient Koopman operator-based model predictive control](https://mlsanity.com/paper/2605.18373/) (2026)

## Abstract (arXiv)

In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling. Self-collisions are modeled in a natural way that allows considering the thickness of cloth without introducing unwanted oscillations. The discretization of the equations of motion leads naturally to a sequence of quadratic problems with inequality and equality constraints. In order to solve these problems efficiently, we develop a novel active-set algorithm that takes into account past active constraints to accelerate the resolution of unresolved contacts. We put to a test the developed collision procedure with diverse scenarios involving static and dynamic friction, sharp objects, and complex-topology folding sequences. Finally, we perform an experimental validation of the collision model by comparing simulations with recordings of real textiles as given by a textitMotion Capture System. The results are very accurate, having errors around 1 cm for DIN A2 textiles (42 x 59.4 cm) even in difficult scenarios involving fast and strong hits with a rigid object.