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Models and Algorithms for the Collision of Rigid and Deformable Bodies

Anton Deguet 1 Ammar Joukhadar Christian Laugier
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : In this report, we describe models and algorithms designed to produce efficient and physically consistent dynamic simulations. These models and algorithms have been implemented in a unique framework, modeling both deformations and contacts through visco-elastic relations. Since this model of interaction (known as «penalty based») is much debated, we present a compared study of two contact models; «penalty» and «impulse». Indeed, the «penalty» based model is supposed to have two major drawbacks : - determin- ing the visco-elastic parameters and - choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we will present results comparing real data, «impulse» based simulation and «penalty» based simulation.
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https://hal.inria.fr/inria-00073113
Contributor : Rapport de Recherche Inria <>
Submitted on : Wednesday, May 24, 2006 - 11:53:27 AM
Last modification on : Monday, December 28, 2020 - 3:44:01 PM
Long-term archiving on: : Sunday, April 4, 2010 - 11:34:43 PM

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  • HAL Id : inria-00073113, version 1

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Anton Deguet, Ammar Joukhadar, Christian Laugier. Models and Algorithms for the Collision of Rigid and Deformable Bodies. RR-3568, INRIA. 1998. ⟨inria-00073113⟩

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