{"id":2641,"date":"2011-01-27T13:25:45","date_gmt":"2011-01-27T13:25:45","guid":{"rendered":"http:\/\/hgpu.org\/?p=2641"},"modified":"2011-01-27T13:25:45","modified_gmt":"2011-01-27T13:25:45","slug":"real-time-soft-finger-grasping-of-physically-based-quasi-rigid-objects","status":"publish","type":"post","link":"https:\/\/hgpu.org\/?p=2641","title":{"rendered":"Real-Time Soft-Finger Grasping of Physically Based Quasi-rigid Objects"},"content":{"rendered":"<p>This paper describes the implementation of a demo. The demo of &#8220;soft-finger grasping of physically based quasi-rigid objects&#8221; 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 &#8220;soft-finger grasping&#8221; 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.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>This paper describes the implementation of a demo. The demo of &#8220;soft-finger grasping of physically based quasi-rigid objects&#8221; 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 &#8220;soft-finger [&hellip;]<\/p>\n","protected":false},"author":351,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[11,3],"tags":[1782,794,20,875],"class_list":["post-2641","post","type-post","status-publish","format-standard","hentry","category-computer-science","category-paper","tag-computer-science","tag-interface-tracking","tag-nvidia","tag-nvidia-geforce-fx-5600"],"views":2162,"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/2641","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/users\/351"}],"replies":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2641"}],"version-history":[{"count":0,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/2641\/revisions"}],"wp:attachment":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2641"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2641"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2641"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}