Title: Virtual Grasping of Deformable Objects with Exact Contact Friction in Real Time
Authors: Le Garrec, Jérémie
Andriot, Claude
Merlhiot, Xavier
Bidaud, Philippe
Citation: WSCG '2006: Short Papers Proceedings: The 14-th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2006: University of West Bohemia, Plzen, Czech Republic, January 31 - February 2, 2006, p. 87-92.
Issue Date: 2006
Publisher: Václav Skala - UNION Agency
Document type: konferenční příspěvek
URI: http://wscg.zcu.cz/WSCG2006/Papers_2006/Short/!WSCG2006_Short_Proceedings_Final.pdf
ISBN: 80-86943-05-4
Keywords: virtuální uchopování;real-time simulace;deformovatelné modely;snímání pohybu
Keywords in different language: virtual grasping;real-time simulation;deformable models;motion capture
Abstract: This paper describes a physically-based simulation for grasping tasks in an interactive environment. Fingertips and interacting objects are based on quasi-rigid models. The quasi-rigid model combines a rigid model for dynamic simulation and a deformable model for resolving local contact with friction and surface deformation. We simulate deformation by adding compliance on control points in the contact area based on point primitives. We use a Coulomb's law description to add friction phenomenon in the virtual environment. A linearized formulation of this model in the contact space and an iterative Gauss-Seidel like algorithm are able to solve complex multi-contacts problem between deformable objects in real time. Our method computes consistent and realistic contact surface in a stable way. This allows us to couple this system with an optical motion capture system for Virtual Reality applications.
Rights: © Václav Skala - UNION Agency
Appears in Collections:WSCG '2006: Short Papers Proceedings

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