Real-time soft-finger grasping of physically based quasi-rigid objects

M. D. Pascale, Gabriele Sarcuni, D. Prattichizzo
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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.
基于物理的准刚性物体的实时软手指抓取
本文介绍了一个实现的演示。“基于物理的准刚体物体的软指抓取”演示将提供抓取局部可变形并根据刚体动力学移动的物体的解决方案。本文总结了在高端硬件上实时运行“软指抓握”仿真的总体软件架构和单一算法的选择。将局部模型扩展到包含旋转摩擦,并直接在GPU上通过位移场实现局部变形,从而获得软手指抓取。场景中物体的动力学由刚体模拟器模拟,该模拟器允许与场景中存在的其他物体进行真实的交互。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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