Real-Time Soft-Finger Grasping of Physically Based Quasi-rigid Objects
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}
}
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.
January 27, 2011 by hgpu
