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 - Graphisme, Vision et Robotique, 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.
Type de document :
RR-3568, INRIA. 1998
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Soumis le : mercredi 24 mai 2006 - 11:53:27
Dernière modification le : jeudi 11 janvier 2018 - 06:20:04
Document(s) archivé(s) le : dimanche 4 avril 2010 - 23:34:43



  • HAL Id : inria-00073113, version 1



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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