Robotics: Science and Systems I

Modeling Complex Contacts Involving Deformable Objects for Haptic and Graphic Rendering

Qi Luo, Jing Xiao

Abstract: Haptic rendering involving deformable objects has seen many applications, from surgical simulation and training, to virtual prototyping, to teleoperation, etc. High quality rendering demands both physical fidelity and real-time performance, which are often conflicting requirements. In this paper, we simulate contact force between a held rigid body and an elastic object and the corresponding shape deformation of the elastic object efficiently and realistically based on a nonlinear physical model and a novel beam-skeleton model, taking into account friction, compliant motion, and multiple contact regions. Our approach is able to achieve a combined update rate of over 1 kHz in realistic, smooth, and stable rendering, as demonstrated by our implemented examples.

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Bibtex:

@INPROCEEDINGS{ Luo-RSS-05,
    AUTHOR    = {Qi Luo and Jing Xiao},
    TITLE     = {Modeling Complex Contacts Involving Deformable
                 Objects for Haptic and Graphic Rendering},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2005},
    ADDRESS   = {Cambridge, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2005.I.021} 
}