Aggregate Constraints for Virtual Manipulation ...
Type de document :
Compte-rendu et recension critique d'ouvrage
Titre :
Aggregate Constraints for Virtual Manipulation with Soft Fingers
Auteur(s) :
Talvas, Anthony [Auteur]
3D interaction with virtual environments using body and mind [Hybrid]
Marchal, Maud [Auteur]
3D interaction with virtual environments using body and mind [Hybrid]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Otaduy, Miguel A. [Auteur]
Grupo de Modelado y Realidad Virtual [Madrid] [GMRV]
3D interaction with virtual environments using body and mind [Hybrid]
Marchal, Maud [Auteur]
3D interaction with virtual environments using body and mind [Hybrid]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Otaduy, Miguel A. [Auteur]
Grupo de Modelado y Realidad Virtual [Madrid] [GMRV]
Titre de la revue :
IEEE Transactions on Visualization and Computer Graphics
Pagination :
9
Éditeur :
Institute of Electrical and Electronics Engineers
Date de publication :
2015-01-20
ISSN :
1077-2626
Mot(s)-clé(s) en anglais :
Physically-based simulation
grasping
dexterous manipulation
constraint computation
virtual deformable hand
grasping
dexterous manipulation
constraint computation
virtual deformable hand
Discipline(s) HAL :
Informatique [cs]/Synthèse d'image et réalité virtuelle [cs.GR]
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Modélisation et simulation
Résumé en anglais : [en]
Interactive dexterous manipulation of virtual objects remains a complex challenge that requires both appropriate hand models and accurate physically-based simulation of interactions. In this paper, we propose an approach ...
Lire la suite >Interactive dexterous manipulation of virtual objects remains a complex challenge that requires both appropriate hand models and accurate physically-based simulation of interactions. In this paper, we propose an approach based on novel aggregate constraints for simulating dexterous grasping using soft fingers. Our approach aims at improving the computation of contact mechanics when many contact points are involved, by aggregating the multiple contact constraints into a minimal set of constraints. We also introduce a method for non-uniform pressure distribution over the contact surface, to adapt the response when touching sharp edges. We use the Coulomb-Contensou friction model to efficiently simulate tangential and torsional friction. We show through different use cases that our aggregate constraint formulation is well-suited for simulating interactively dexterous manipulation of virtual objects through soft fingers, and efficiently reduces the computation time of constraint solving.Lire moins >
Lire la suite >Interactive dexterous manipulation of virtual objects remains a complex challenge that requires both appropriate hand models and accurate physically-based simulation of interactions. In this paper, we propose an approach based on novel aggregate constraints for simulating dexterous grasping using soft fingers. Our approach aims at improving the computation of contact mechanics when many contact points are involved, by aggregating the multiple contact constraints into a minimal set of constraints. We also introduce a method for non-uniform pressure distribution over the contact surface, to adapt the response when touching sharp edges. We use the Coulomb-Contensou friction model to efficiently simulate tangential and torsional friction. We show through different use cases that our aggregate constraint formulation is well-suited for simulating interactively dexterous manipulation of virtual objects through soft fingers, and efficiently reduces the computation time of constraint solving.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :