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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Implicit Multibody Penalty-BasedDistributed Contact.

Hongyi Xu, Yili Zhao, Jernej Barbic

    IEEE Transactions on Visualization and Computer Graphics
    |September 11, 2015
    PubMed
    Summary
    This summary is machine-generated.

    This study introduces stable penalty-based frictional contact simulation for complex scenarios in computer graphics and robotics. It enables real-time control of articulated structures with loops and complex object interactions.

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    Area of Science:

    • Computer Graphics
    • Robotics
    • Physics Simulation

    Background:

    • Penalty-based contact methods are popular but suffer from stability issues in complex simulations.
    • Variable stiffness and unpredictable behavior limit their application in dynamic scenarios.

    Purpose of the Study:

    • To develop a stable penalty-based frictional contact simulation method.
    • To enable real-time control of articulated structures with complex contact interactions.

    Main Methods:

    • Employed semi-implicit integration, exact analytical contact gradients, and symbolic Gaussian elimination.
    • Utilized an SVD solver for stable simulation of frictional contact.
    • Derived implicit proportional-derivative control forces for real-time control.

    Main Results:

    • Achieved stable simulation of penalty-based frictional contact with large, time-varying contact areas.
    • Successfully simulated complex scenarios including conforming and self-contact between rigid and articulated objects.
    • Demonstrated real-time manipulation of multiple objects using controlled articulated mechanisms.

    Conclusions:

    • The proposed method overcomes stability limitations of traditional penalty-based contact.
    • Enables robust simulation and real-time control for complex robotic and graphics applications.
    • Paves the way for more realistic and interactive simulations of physical contact.