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Real-Time Soft-Finger Grasping of Physically Based Quasi-rigid Objects

Maurizio de Pascale, Gabriele Sarcuni, Domenico Prattichizzo
DII, University of Siena, Italy
First Joint Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005, p.545-546

@conference{de2005real,

   title={Real-time soft-finger grasping of physically based quasi-rigid objects},

   author={De Pascale, M. and Sarcuni, G. and Prattichizzo, D.},

   booktitle={Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. World Haptics 2005. First Joint},

   pages={545–546},

   isbn={0769523102},

   year={2005},

   organization={IEEE}

}

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This paper describes the implementation of a demo. The demo of “soft-finger grasping of physically based quasi-rigid objects” will provide solutions to grasp objects that are locally deformable and move according to rigid-body dynamics. This work summarizes the choices of the overall software architecture and the single algorithms used to run the simulation of “soft-finger grasping” in real time on high-end hardware. The soft-finger grasping is obtained extending a local model to include rotational friction while the local deformations are achieved through displacement fields directly on the GPU. Dynamics of the objects in the scene is simulated by a rigid body simulator which allows realistic interactions with other objects existing in the scene.
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