SIAM Journal on Scientific and Statistical Computing
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Large steps in cloth simulation
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Sequential Regularization Methods for Simulating Mechanical Systems with Many Closed Loops
SIAM Journal on Scientific Computing
ACM Transactions on Graphics (TOG)
Footskate cleanup for motion capture editing
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Fast Iterative Refinement of Articulated Solid Dynamics
IEEE Transactions on Visualization and Computer Graphics
System Identification of the Human Hand Grasping a Haptic Knob
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Obscuring length changes during animated motion
ACM SIGGRAPH 2004 Papers
Adaptive dynamics of articulated bodies
ACM SIGGRAPH 2005 Papers
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
IEEE Transactions on Visualization and Computer Graphics
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
Rigid Body Dynamics Algorithms
Rigid Body Dynamics Algorithms
Preserving topology and elasticity for embedded deformable models
ACM SIGGRAPH 2009 papers
Real-time deformation and fracture in a game environment
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
Real-time large-deformation substructuring
ACM SIGGRAPH 2011 papers
Natural motion animation through constraining and deconstraining at will
IEEE Transactions on Visualization and Computer Graphics
Physics-Based Character Skinning Using Multidomain Subspace Deformations
IEEE Transactions on Visualization and Computer Graphics
Subspace integration with local deformations
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
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We present a method for the simulation of compliant, articulated structures using a plausible approximate model that focuses on modeling endpoint interaction. We approximate the structure's behavior about a reference configuration, resulting in a first order reduced compliant system, or FORK-1S. Several levels of approximation are available depending on which parts and surfaces we would like to have interactive contact forces, allowing various levels of detail to be selected. Our approach is fast and computation of the full structure's state may be parallelized. Our approach is suitable for stiff, articulate grippers, such as those used in robotic simulation, or physics based characters under static proportional derivative control. We demonstrate that simulations with our method can deal with kinematic chains and loops with non-uniform stiffness across joints, and that it produces plausible effects due to stiffness, damping, and inertia.