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HAPTICS
2005
IEEE

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

9 years 2 months ago
Real-Time Soft-Finger Grasping of Physically Based Quasi-rigid Objects
This paper describes the implementation of a demo that will be shown at the conference site. The demo of “softfinger 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.
Maurizio de Pascale, Gabriele Sarcuni, Domenico Pr
Added 24 Jun 2010
Updated 24 Jun 2010
Type Conference
Year 2005
Where HAPTICS
Authors Maurizio de Pascale, Gabriele Sarcuni, Domenico Prattichizzo
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