Virtual grasping of deformable objects with exact contact friction in real time

14th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2006, WSCG'2006 - In Co-operation with EUROGRAPHICS, Full Papers Proceedings

Volumn , Issue , 2006, Pages 87-92

  Le Garrec, Jérémie ^a   Andriot, Claude ^a   Merlhiot, Xavier ^a   Bidaud, Philippe ^b  

^a INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

^b UNIVERSITÉ PIERRE ET MARIE CURIE   (France)

Author keywords

Deformable model; Grasping; Motion capture; Real time simulation

Indexed keywords

CONTACT AREAS; CONTACT FRICTION; CONTACT SURFACE; CONTROL POINT; COULOMB'S LAW; DEFORMABLE MODELS; DEFORMABLE OBJECT; GAUSS-SEIDEL; GRASPING; INTERACTIVE ENVIRONMENTS; MOTION CAPTURE; OPTICAL MOTION CAPTURE; PHYSICALLY-BASED SIMULATION; REAL TIME; REAL TIME SIMULATIONS; RIGID MODEL; SURFACE DEFORMATION; VIRTUAL GRASPING;

COMPUTER VISION; FRICTION; TRIBOLOGY; VIRTUAL REALITY; VISUALIZATION;

DEFORMATION;

EID: 38349057617     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (18)

1. N. Xydas and I. Kao, Modeling of contact mechanics with experimental result for soft fingers. In IEEE Intl. Conference on Intelligent Robots and Systems, pp. 488-493, 1998.
2. C. H. Xiong, M. Y.Wang, Y. Tang, and Y. L. Xiong, Compliant grasping with passive forces. In Journal of Robotic Systems, 22(5), pp. 271-285, May 2005.
3. M. Ciocarlie, A. Miller and P. Allen, Grasp analysis using deformable fingers. In IEEE Intl. Conference on Intelligent Robots and Systems, Aug. 2005.
4. C. Duriez and C. Andriot, A multi-threaded approach for deformable/ rigid contacts with haptic feedback. Intl. Symposium on Haptic Interfaces for Virtual Environments ans Teleoperator Systems, 2004.
5. G. Picinbono, J. Lombardo, H. Delingette and N. Ayache, Improving realism of a surgery simulator : Linear anisotropic elasticity, complex interactions and force extrapolation. In J. Visualization and Computer Animation, 2002.
6. A. Maciel, S. Sarni, O. Buchwalder, R. Boulic and D. Thalmann, Multifinger haptic rendering of deformable objects. In Proc. of Eurographics Symposium on Virtual Environments, 2005.
7. A. Adamson and M. Alexa, Approximating and intersecting surfaces from points. In Proc. of Eurographics Symposium on Geometry Processing SPG 03, pp. 230-239, June 2003.
8. J. Klein and G. Zachmann, Point Cloud Collision Detection. In Computer Graphics Forum (Proc. of Eurographics 2004), 23, 3, Grenoble, France, pp. 567-576, Sep. 2004.
9. M. Pauly, D. Pai and L. Guibas, Quasi-Rigid Objects in Contact. In ACM Siggraph/Eurographics Symposium on Computer Animation 2004.
10. D. Baraff, Fast contact force computation for non penetrating rigig bodies. In Proc. of Siggraph, pp 23-34, 1994.
11. R. Keiser, M. Müller, B. Heidelberger, M. Teschner and M. Gross, Contact Handling for Deformable Point-Based Objects. Proc. of Vision, Modeling, Visualization VMV'04, Stanford, CA, Nov. 2004.
12. G. Van Den Bergen, Efficient collision detection of complex deformable models using AABB trees. Journal of Graphics Tools 2, pp. 1-14, 1997.
13. M. Müller, R. Keiser, A. Nealen, M. Pauly, M. Gross and M. Alexa, Point-Based Animation of Elastic, Plastic, and Melting Objects. ACM Siggraph/Eurographics Symposium on Computer Animation 2004.
14. P. Song, J.S. Pang and V. Kumar, A semi-implicit time-stepping model for frictionnal compliant contact problems. Intl. Journal of Robotics Research, 60, pp. 2231-2261, 2004.
15. J-J. Moreau and M. Jean, Numerical Treatment of contact and friction : the contact dynamics method. Engineering Systems Design and Analysis, 4:201-208, 1996.
16. F. Jourdan, P. Alart and M. Jean, A gauss-seidel like algorithm to solve frictional contact problems. Computer Methods in Applied Mechanics and Engineering, pp. 33-47, 1998.
17. D. Ruspini and O. Khatib, Collision/Contact Models for the Dynamic Simulation of Complex Environments IEEE/RSJ IROS'97, Sept. 1997.
18. www.ar-tracking.de