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. © 2005 IEEE.
De Pascale, M., Sarcuni, G., Prattichizzo, D. (2005). Real-Time Soft-Finger Grasping of Physically Based Quasi-Rigid Objects. In Proc. First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05) (pp.545-546). New York : IEEE [10.1109/WHC.2005.110].
Real-Time Soft-Finger Grasping of Physically Based Quasi-Rigid Objects
Prattichizzo, D.
2005-01-01
Abstract
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. © 2005 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/32351