An algorithm for deformations, collision detection and contact<br/><br/>between complex deforming geometry running at hard real-time rates

Friday, March 11, 2011 - 10:00am - 11:00am
Keller 3-180
Jernej Barbič (University of Southern California)
Fast deformable objects are very useful in robotics applications such
as haptic rendering,
where high simulation update rates (e.g., 1000 simulation steps per
second) are required
to maintain device stability. However, in order to simulate two rigid
or deformable
objects in contact with 6-DoF haptic feedback, it is also necessary to
resolve contact between the two objects at haptic rates. With complex
**deforming** geometry, this problem is difficult due to very short
computation times (e.g., 1 millisec) of each simulation cycle. I will
present an algorithm which can perform deformable object simulation,
deformable collision detection and contact force and torque
computation between two objects, at millisecond simulation rates. The
algorithm scales
well to both objects having complex geometry, and produces stable contact
forces and torques, even at stiffness levels close to haptic device
hardware limits.