Uri M. Ascher
Papers
8
Total Citations
272
H-Index
7
About
Uri M. Ascher is a prominent computational mathematician whose research spans numerical methods for differential equations, multibody dynamics, robot simulation, and physics-based computer animation. Best known for his foundational work on differential-algebraic equations (DAEs) and constrained mechanical systems, his 1995 paper on stabilization of constrained mechanical systems with invariant manifolds has garnered 143 citations and remains a cornerstone reference for researchers grappling with drift instabilities in simulation — a pervasive challenge in robotics and computational mechanics. His 1997 investigation into forward dynamics and formulation stiffness in robot simulation further illuminated the subtle but critical interplay between dynamics algorithms and numerical integration, shaping how engineers approach multi-body system modeling. Ascher has consistently bridged theoretical rigor and practical application, contributing frameworks for forward dynamics algorithms in multibody chains and contact scenarios, as well as constraint-based robot programming through differential-algebraic inequalities. More recently, his research has extended into computer graphics, addressing elastodynamic simulation consistency across mesh resolutions and deformable object animation. This breadth — from classical numerical analysis to modern animation and robotics — reflects a career dedicated to making simulation both mathematically sound and computationally practical, making his work essential reading for students and researchers in scientific computing, robotics, and computational physics.
Research Focus
Key Achievements
Top Papers
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- 4Forward dynamics algorithms for multibody chains and contact18 citations · 2002
- 5EigenFit for consistent elastodynamic simulation across mesh resolution13 citations · 2019
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