A collision model for rigid and deformable bodies
A collision model for rigid and deformable bodies
复制标题
刚体和变形体的碰撞模型
DOI：
10.1109/robot.1998.677215
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
C. Laugier
中科院分区：
文献类型：
--
作者：
A. Joukhadar;A. Deguet;C. Laugier
我们描述了旨在产生高效且物理上一致的动态模拟的模型和算法。这些模型和算法在一个独特的框架中实现，通过粘弹性关系对变形和接触进行建模。由于这种交互模式(称为“基于惩罚”)有很大争议，我们将对其进行详细介绍。基于“惩罚”的模型有两个主要缺点：粘弹性参数的确定和计算时间步长的选择。我们提出了基于物理概念的这两个问题的解决方案。最后，给出了比较真实数据、基于“脉冲”的仿真和基于“惩罚”的仿真的结果。
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 it in detail. The "penalty" based model is said to have two major drawbacks: the difficulty in determining viscoelastic parameters, and in choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we show results comparing real data, "impulse" based simulation and "penalty" based simulation.