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HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS

Topics: Collision Detection; Fundamental Methods and Algorithms; Graphical Interfaces; Modeling and Algorithms; Physics-Based Modeling; Real-Time Graphics; Real-Time Rendering; Real-Time Visual Simulation; Scene and Object Modeling

Authors: Nadjet Talbi 1 ; Pierre Joli 1 ; Zhi-Qiang Feng 2 and Abderrahmane Kheddar 3

Affiliations: 1 Laboratory IBISC, Evry Val d’Essonne university, France ; 2 Laboratory LME, Evry Val d’Essonne University, France ; 3 Laboratory JRL, AIST Tsukuba Central 2, Japan

ISBN: 978-989-8111-20-3

Keyword(s): Friction Contact, Interactive Simulation, Haptic rendering, Uzawa technic, Bi-potential Method.

Related Ontology Subjects/Areas/Topics: Animation and Simulation ; Collision Detection ; Computer Vision, Visualization and Computer Graphics ; Fundamental Methods and Algorithms ; Geometry and Modeling ; Graphical Interfaces ; Interactive Environments ; Modeling and Algorithms ; Physics-Based Modeling ; Real-Time Graphics ; Real-Time Rendering ; Real-Time Visual Simulation ; Rendering ; Scene and Object Modeling

Abstract: This paper deals principally with the comparison of two efficient algorithms to solve multi-contact problems with friction between two deformable bodies. These two algorithms are based on the bi-potential formulation of the contact laws, offering the control of the solution at each contact point through an unique mathematical operator of projection as well as a better force feedback stability of the friction contact force. For reasons of modular programming, a method to decouple the contact solver from the displacement solver is presented. A Haptic Contact simulator called “HapCo” has been developed as a prototype to test contact algorithms between two deformable objects in the context of interactive simulation with a haptic device.

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Paper citation in several formats:
Talbi N.; Joli P.; Feng Z.; Kheddar A. and (2008). HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS.In Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008) ISBN 978-989-8111-20-3, pages 55-61. DOI: 10.5220/0001095900550061

@conference{grapp08,
author={Nadjet Talbi and Pierre Joli and Zhi{-}Qiang Feng and Abderrahmane Kheddar},
title={HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS},
booktitle={Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)},
year={2008},
pages={55-61},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001095900550061},
isbn={978-989-8111-20-3},
}

TY - CONF

JO - Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)
TI - HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS
SN - 978-989-8111-20-3
AU - Talbi, N.
AU - Joli, P.
AU - Feng, Z.
AU - Kheddar, A.
PY - 2008
SP - 55
EP - 61
DO - 10.5220/0001095900550061

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