Asynchronous haptic simulation of contacting deformable objects with variable stiffness

Peterlik, Igor; Duriez, Christian; Cotin, Stéphane

Document type :

Communication dans un congrès avec actes

Title :

Asynchronous haptic simulation of contacting deformable objects with variable stiffness

Author(s) :

Peterlik, Igor [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Duriez, Christian [Auteur]

Simulation in Healthcare using Computer Research Advances [SHACRA]
Cotin, Stéphane [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]

Conference title :

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

City :

san francisco

Country :

Etats-Unis d'Amérique

Start date of the conference :

2011

Publication date :

2011

HAL domain(s) :

Informatique [cs]/Synthèse d'image et réalité virtuelle [cs.GR]

English abstract : [en]

Abstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the ...
Show more >Abstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

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