Modeling and Calibration of Contact, Friction and Deformation between a Rigid Object and another Rigid or Rheology Object

刚性物体与另一个刚性或流变物体之间的接触、摩擦和变形的建模和校准

• 批准号: 14550247
• 负责人: NOBORIO Hiroshi
• 金额: $ 2.37万
• 依托单位: Osaka Electro-Communication University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550247/
• 关键词: Physical Simulation; Virtual Reality; Haptics; Impulsive Approach; Dynamic Animation; Augmented Reality; Parameter Calibration; Genetic Algorithm; 物理アニメーション; ハプティックス; レオロジー物体; バネ・マス・ダンパモデル; 剛体; バーチャルリアリティー; ハプティック; 撃力; 摩擦力; 触覚; コンピュータグラフ

The purpose of this research is to construct contact (including friction) model between rigid bodies and also design deformation model of pushed rhelogy (complex viscous - elastic) object. These models are quite useful for manipulating many kinds of materials by robotic manipulator in a real world and also for manipulating them by haptics in a virtual world.Concerning to the former problem, we propose an impulse-momentum-based approach to generate an arbitrary impulse (sequence of forces) artificially. This is a modified version of Mirtich's famous approach. Our new approach has enough parameters to express several physical phenomena. For example, there are static and kinetic friction coefficients between two encountered objects, restitution coefficient in the Poisson's contact model, and so on. The unknown parameters are efficiently calibrated by two kinds of near-optimal probabilistic search algorithms such as the randomized algorithm and genetic algorithm under many experimental dat … More a. The calibration is based on the conservative law of momentum variation. For this purpose, we should exactly measure velocities before and after collision by high-speed camera. Finally, we check the feasibility of our new approach in the air hokey and billiard games.Concerning to the latter problem, we propose smart MSD (Mass-Spring-Damper) model to represent the viscosity, elasticity, and residual displacement of deformed object. In general, there are many kinds of rheology objects in our living life. Therefore for each material, we calibrate many uncertain parameters of MSD model by the genetic algorithm. Each MSD element consists of Voigt and damper parts serially. Therefore, parameters to calibrate are two coefficients of dampers, one coefficient of spring, length ratio of Voigh and damper and so on. In order to calibrate all the parameters, we minimize the shape difference between real and virtual rheology objects. The shape deformation of real rheology object is precisely captured by two or more stereo vision camera systems Digiclops and its software development kit (SDK) Triclops (provided by Point Grey Research Inc, Canada). Each captures about three or more thousand points as shape of real rheology object in the real-time manner. Less

本研究的目的是建立刚体间的接触（包括摩擦）模型，并设计推流（复杂粘弹）物体的变形模型。这些模型对于机器人在真实的世界中对各种材料的操作以及虚拟世界中对材料的触觉操作都是非常有用的。针对前一个问题，我们提出了一种基于冲量-动量的方法来人工产生任意的冲量（力序列）。这是Mirtich著名方法的修改版本。我们的新方法有足够的参数来表达几种物理现象。在大量实验数据的基础上，利用随机化算法和遗传算法对未知参数进行了有效的概率搜索，得到了两种近似最优的概率搜索算法：随机化算法和遗传算法。 ...更多信息 a.标定是基于动量守恒定律。为此，需要用高速摄影机精确测量碰撞前后的速度。最后，我们在空中曲棍球和台球游戏中验证了新方法的可行性，对于后一个问题，我们提出了一种智能MSD（Mass-Spring-Damper）模型来表示变形物体的粘性、弹性和残余位移。在我们的生活中，流变学的对象是多种多样的。因此，对于每种材料，我们通过遗传算法来校正MSD模型的许多不确定参数。每个MSD元件由Voigt和阻尼器串联组成。因此，需要标定的参数有两个阻尼器的系数、一个弹簧的系数、Voigh与阻尼器的长度比等，为了标定所有的参数，我们最小化了真实的和虚拟的流变对象之间的形状差异。真实的流变学对象的形状变形由两个或更多个立体视觉相机系统Digiclops及其软件开发工具包（SDK）Triclops（由加拿大Point Grey Research Inc提供）精确捕获。每一个都以实时的方式捕获大约三千个或更多的点作为真实的流变对象的形状。少

项目成果

野上良, 榎亮, 登尾啓史: "レオロジー物体を表現する3つのモデルの変形特性に関する研究"日本バーチャルリアリティ学会論文集. Vol.8, No.3. 271-278 (2003)

Ryo Nogami、Ryo Enoki、Keishi Too：“代表流变物体的三种模型的变形特性的研究”日本虚拟现实学会论文集第 8 卷，第 271-278 期（2003 年）。

A New Sensor-Based Path-Planning Algorithm whose Path Length is Shorter on the Average

一种新的基于传感器的平均路径长度更短的路径规划算法

• 发表时间: 2004
• 期刊: Proc.of the IEEE Int.Conf.on Robotics and Automation
• 作者: H.Noborio;R.Nogami;S.Hirao
• 通讯作者: S.Hirao

Precise Deformation of Rheology MSD Model Calibrated by Randomized Algorithm

通过随机算法校准流变学 MSD 模型的精确变形

• 发表时间: 2003
• 期刊: Eurographics 2003
• 作者: Hiroshi Noborio;Ryo Nogami;Ryo Enoki
• 通讯作者: Ryo Enoki

A comparative study of rheology MSD models whose structures are lattice and truss

• DOI: 10.1109/iros.2004.1390008
• 发表时间: 2004-09
• 期刊: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
• 作者: R. Nogami;H. Noborio;S. Tomokuni;S. Hirai

Computing and Calibrating Collision Impulses and its Application for Air Hockey Game

碰撞脉冲的计算与标定及其在空气曲棍球比赛中的应用

• 发表时间: 2002
• 期刊: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
• 作者: Toshiko Iguchi;Noriyuki Katsuyama;Hiroshi Noborio;Shinichi Hirai
• 通讯作者: Shinichi Hirai