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dc.contributor.authorLe Garrec, Jérémie
dc.contributor.authorAndriot, Claude
dc.contributor.authorMerlhiot, Xavier
dc.contributor.authorBidaud, Philippe
dc.contributor.editorJorge, Joaquim
dc.contributor.editorSkala, Václav
dc.identifier.citationWSCG '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.en
dc.description.abstractThis 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.en
dc.format6 s.cs
dc.publisherVáclav Skala - UNION Agencyen
dc.relation.ispartofseriesWSCG '2006: Short Papers Proceedingsen
dc.rights© Václav Skala - UNION Agencycs
dc.subjectvirtuální uchopovánícs
dc.subjectreal-time simulacecs
dc.subjectdeformovatelné modelycs
dc.subjectsnímání pohybucs
dc.titleVirtual Grasping of Deformable Objects with Exact Contact Friction in Real Timeen
dc.typekonferenční příspěvekcs
dc.subject.translatedvirtual graspingen
dc.subject.translatedreal-time simulationen
dc.subject.translateddeformable modelsen
dc.subject.translatedmotion captureen
Appears in Collections:WSCG '2006: Short Papers Proceedings

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