{"title":"Real-time soft-finger grasping of physically based quasi-rigid objects","authors":"M. D. Pascale, Gabriele Sarcuni, D. Prattichizzo","doi":"10.1109/WHC.2005.110","DOIUrl":null,"url":null,"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.","PeriodicalId":117050,"journal":{"name":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WHC.2005.110","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 15
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.