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A benchmarking suite for 6-DOF real time collision response algorithms

Rene Weller, Mikel Sagardia, David Mainzer, Thomas Hulin, Gabriel Zachmann, Carsten Preusche
2010 Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology - VRST '10  
We present a benchmarking suite for rigid object collision detection and collision response schemes.  ...  The proposed benchmarking suite can evaluate both the performance as well as the quality of the collision response.  ...  Acknowledgment We would like to thank Ralf Rabätje with Volkswagen AG for the fruitful cooperation. This work was partially supported by DFG grant ZA292/1-1 and BMBF grant Avilus / 01 IM 08 001 U.  ... 
doi:10.1145/1889863.1889874 dblp:conf/vrst/WellerSMHZP10 fatcat:m6hcho2s4nedvmvs63wzvnxbgy

Real-Time Support of Haptic Interaction by Means of Sampling-Based Path Planning [chapter]

Michael Strolz, Martin Buss
2010 Advances in Haptics  
It is shown that a single-threaded version of the path planning can be used for real-time support of the haptic interaction at a novel actuated car door.  ...  Thus, even in dynamic or unknown environments, a real-time support of haptic interaction can be achieved.  ...  Furthermore, the authors would like to thank Klaas Klasing for his constant support and advice.  ... 
doi:10.5772/8689 fatcat:5jkjnbhjendzjenfv3idbfkvtq

Soft Articulated Characters with Fast Contact Handling

Nico Galoppo, Miguel A. Otaduy, Serhat Tekin, Markus Gross, Ming C. Lin
2007 Computer graphics forum (Print)  
real time.  ...  We present a fast, novel algorithm based on a layered representation for articulated bodies that enables physically-plausible simulation of animated characters with a high-resolution deformable skin in  ...  We'd like to thank the GAMMA group in Chapel Hill and the CGL in Zurich for their support, in particular Mario Botsch and Bob Sumner for help with sparse solvers and mesh processing; Matthias Mueller (  ... 
doi:10.1111/j.1467-8659.2007.01046.x fatcat:geaqty34rrebvbls45ohiwtxwu

A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation

M.A. Otaduy, M.C. Lin
2006 IEEE Transactions on robotics  
This paper presents a modular algorithm for sixdegree-of-freedom (6-DOF) haptic rendering. The algorithm is aimed to provide transparent manipulation of rigid models with a high polygon count.  ...  The combination of a linearized contact model that frees the simulation from the computational bottleneck of collision detection, with penalty-based collision response well suited for fixed time-stepping  ...  Colgate, the UNC Gamma Group, and the anonymous reviewers for their feedback on the earlier drafts of this paper. ACM  ... 
doi:10.1109/tro.2006.876897 fatcat:bh3qndp7sffyhbtk7odukhybwq

An Evaluation of Open Source Physics Engines for Use in Virtual Reality Assembly Simulations [chapter]

Johannes Hummel, Robin Wolff, Tobias Stein, Andreas Gerndt, Torsten Kuhlen
2012 Lecture Notes in Computer Science  
Our benchmarks consider the minimum collision detection time for a large number of objects, restitution characteristics, as well as constraint reliability and body interpenetration.  ...  A further benchmark tests the simulation of a screw and nut mechanism made of rigid-bodies only, without any analytic approximation.  ...  Results Collision Computation Performance Accuracy of Collision Response In the accuracy of collision response benchmark, we measured the height of a simulated bouncing tennis ball.  ... 
doi:10.1007/978-3-642-33191-6_34 fatcat:kozojen6ijd6tlcl4dcczh5p4u

SocNavBench: A Grounded Simulation Testing Framework for Evaluating Social Navigation [article]

Abhijat Biswas, Allan Wang, Gustavo Silvera, Aaron Steinfeld, Henny Admoni
2021 arXiv   pre-print
To bridge this gap, we introduce SocNavBench, a simulation framework for evaluating social navigation algorithms.  ...  We also provide an implementation of a suite of metrics to quantify the performance of navigation algorithms on these scenarios.  ...  Algorithms that produce consistently small times-to-collision have a higher likelihood of inducing responsive humans to deviate from their originally preferred trajectory, and thus rank less well.  ... 
arXiv:2103.00047v2 fatcat:uxqmlcousbhive3y3yj2366veq

Design and implementation of real-time physically-based virtual musical instruments: A balancing act

James Leonard, Jerome Villeneuve
2020 Zenodo  
In recent years, real-time physically-based solutions for sound synthesis have become a common practice both in academia and commercial applications, driven jointly by the increase in computing power and  ...  First, a short review on the topics of computation and expressive control of real-time physical models is proposed, followed by the introduction of the physical proxy, a new mass-interaction modelling  ...  REAL-TIME CONTROL OF PHYSICALLY-BASED SOUND SYNTHESIS Computational Aspects Once primarily considered as a costly endeavour best suited for off-line acoustical simulation, physical modelling techniques  ... 
doi:10.5281/zenodo.3898773 fatcat:buvy4tx2tzfuvbnjxehb2zrymy

Fast Simulation of Deformable Models in Contact Using Dynamic Deformation Textures [article]

Nico Galoppo, Miguel A. Otaduy, Paul Mecklenburg, Markus Gross, Ming C. Lin
2006 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation - SCA '04  
We perform proximity queries for deformable bodies using a two-stage algorithm directly on dynamic deformation textures, resulting in output-sensitive collision detection that is independent of the combinatorial  ...  The dynamic deformation textures can also be used directly for real-time shading and can easily be implemented using SIMD architecture on commodity hardware.  ...  for last-minute video editing and Mark Harris (NVIDIA) for GPGPU support.  ... 
doi:10.2312/sca/sca06/073-082 fatcat:lmpnxjqk6jfs3mugub6ytgvya4

Interaction in Distributed Virtual Environments [article]

Mashhuda Glencross, Miguel Otaduy, Alan Chalmers
2005 Eurographics State of the Art Reports  
First we look at techniques for improving the user's experience by using high-fidelity graphical rendering, and explore how this may be achieved in real-time through exploitation of features of the human  ...  of these for distribution architectures that provide for shared haptic interaction.  ...  We would also like to thank Stephen Ehmann and Young Kim for their help with SWIFT++ and DEEP; Nitin Jain, Avneesh Sud, and Naga Govindaraju for their contributions in haptic texture rendering; Roberta  ... 
doi:10.2312/egt.20051057 fatcat:y3cgrhdjojdf3ij4p5aloxefwm

The OpenGRASP benchmarking suite: An environment for the comparative analysis of grasping and dexterous manipulation

S. Ulbrich, D. Kappler, T. Asfour, N. Vahrenkamp, A. Bierbaum, M. Przybylski, R. Dillmann
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this work, we present a new software environment for the comparative evaluation of algorithms for grasping and dexterous manipulation.  ...  Currently, benchmarks for grasp and motion planningare included as case studies, as well as a library of domestic everyday objects models, and a real-life scenario that features a humanoid robot acting  ...  Fig. 5 . 5 A screenshot of the graphical user interface provided by the controller software of the benchmarking suite. Fig. 6 . 6 (a) The setup of the first planning scene.  ... 
doi:10.1109/iros.2011.6048535 fatcat:673oah5kobbtnks53ljb46hmhi

The OpenGRASP benchmarking suite: An environment for the comparative analysis of grasping and dexterous manipulation

S. Ulbrich, D. Kappler, T. Asfour, N. Vahrenkamp, A. Bierbaum, M. Przybylski, R. Dillmann
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this work, we present a new software environment for the comparative evaluation of algorithms for grasping and dexterous manipulation.  ...  Currently, benchmarks for grasp and motion planningare included as case studies, as well as a library of domestic everyday objects models, and a real-life scenario that features a humanoid robot acting  ...  Fig. 5 . 5 A screenshot of the graphical user interface provided by the controller software of the benchmarking suite. Fig. 6 . 6 (a) The setup of the first planning scene.  ... 
doi:10.1109/iros.2011.6094894 dblp:conf/iros/UlbrichKAVBPD11 fatcat:237g4wdf5bci3mcbbcnkj7r3gm

Factory: Fast Contact for Robotic Assembly [article]

Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
2022 arXiv   pre-print
We achieve real-time or faster simulation of a wide range of contact-rich scenes, including simultaneous simulation of 1000 nut-and-bolt interactions.  ...  In this work, we present Factory, a set of physics simulation methods and robot learning tools for such applications.  ...  ACKNOWLEDGMENTS We thank Joe Falco for assistance with the original NIST assets, John Ratcliff for generating the convex decomposition for the bolt (Fig.  ... 
arXiv:2205.03532v1 fatcat:4jgmjskzarfapnpe7sxwnkfxyy

Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments [article]

Mark Nicholas Finean, Wolfgang Merkt, Ioannis Havoutis
2021 arXiv   pre-print
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with  ...  We further analyse the performance of three state-of-the-art approaches to generating distance fields (Voxblox, Fiesta, and GPU-Voxels) for use in real-time environment reconstruction.  ...  [32] provide the first demonstration of collision avoidance in real-time on a real robot using parallel GPU processing.  ... 
arXiv:2103.03958v1 fatcat:e3jtbjh46nfh3aj6n2esfywtli

Interactive generalized penetration depth computation for rigid and articulated models using object norm

Min Tang, Young J. Kim
2014 ACM Transactions on Graphics  
We present a novel, real-time algorithm to accurately approximate the generalized penetration depth (PD g ) between two overlapping rigid or articulated models.  ...  The main ingredient of our algorithm is a novel and general formulation of distance metric, the object norm, in a configuration space for articulated models, and a compact closed-form solution for it.  ...  We thank Liangjun Zhang for helpful initial discussions about this project.  ... 
doi:10.1145/2517108 fatcat:pwsvgk2akjernc5aypvvrow3k4

Affine Body Dynamics: Fast, Stable Intersection-free Simulation of Stiff Materials [article]

Lei Lan, Danny M. Kaufman, Minchen Li, Chenfanfu Jiang, Yin Yang
2022 arXiv   pre-print
At the same time, numerical models of a rigid body continue to pose a number of known challenges and trade-offs including intersections, instabilities, inaccuracies, and/or slow performances that grow  ...  Rigid body modeling has thus long remained a fundamental tool and is, by far, the most popular simulation strategy currently employed for modeling stiff solids.  ...  In addition to this high-level idea, we also design a novel collision culling algorithm dedicated for our simulation and a corresponding parallel matrix assembly strategy.  ... 
arXiv:2201.10022v2 fatcat:u4yclroxojddxkee3rsrt23cku
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