Robotics: Science and Systems I
Modeling Complex Contacts Involving Deformable Objects for Haptic and Graphic Rendering
Qi Luo, Jing XiaoAbstract: Haptic rendering involving deformable objects has seen many applications, from surgical simulation and training, to virtual prototyping, to teleoperation, etc. High quality rendering demands both physical fidelity and real-time performance, which are often conflicting requirements. In this paper, we simulate contact force between a held rigid body and an elastic object and the corresponding shape deformation of the elastic object efficiently and realistically based on a nonlinear physical model and a novel beam-skeleton model, taking into account friction, compliant motion, and multiple contact regions. Our approach is able to achieve a combined update rate of over 1 kHz in realistic, smooth, and stable rendering, as demonstrated by our implemented examples.
Bibtex:
@INPROCEEDINGS{ Luo-RSS-05, AUTHOR = {Qi Luo and Jing Xiao}, TITLE = {Modeling Complex Contacts Involving Deformable Objects for Haptic and Graphic Rendering}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2005}, ADDRESS = {Cambridge, USA}, MONTH = {June}, DOI = {10.15607/RSS.2005.I.021} }