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In this paper, several active set methods based on classical problems arising in Contact Mechanics are analyzed, namely unilateral/bilateral contact associated with Tresca's/Coulomb's law of friction in small and large deformation. The purpose of this work is to extend an Inexact Primal–Dual Active Set (IPDAS) method already used in Hueber et al. (2008) to the formalism of dynamics and hyper-elasticity. This method permits to solve the unilateral problem with Coulomb's law of friction by taking into account an alternative for the latter based on the approximation of the Coulomb's law by a succession of states of Tresca friction in which the friction threshold is fixed at each fixed point iteration. The mechanical formulation in the hyper-elasticity framework is first presented, next, we establish weak formulations of the different cases of frictional contact problems and we give the finite element approximation of the problems. Then, we detail the numerical treatment within the framework of the primal–dual active set strategy for different frictional contact conditions. We finally provide some numerical experiments to bring into light the efficiency of the IPDAS method and to carry out a comparison with the augmented Lagrangian method by considering representative contact problems in both small and large deformation cases. [ABSTRACT FROM AUTHOR]