Title :
Modeling global deformation using circular beams for haptic interaction
Author :
Cui, Tong ; Song, Aiguo ; Xiao, Jing
Author_Institution :
Sch. of Instrum. Sci. & Eng., Southeast Univ., Nanjing, China
Abstract :
In this paper, a new method to model the global deformation between a rigid object and an elastic object with a hole is presented. This method extends the idea of beam-skeletons by introducing curved cantilever beams for efficient modeling of global deformation of elastic objects with holes. The method is implemented and tested on different examples. Results from three examples are given to demonstrate the efficiency and effectiveness of the approach.
Keywords :
beams (structures); cantilevers; deformation; haptic interfaces; beam skeletons; circular beams; curved cantilever beams; global deformation modeling; haptic interaction; holed elastic object; rigid object; Computational modeling; Concrete; Deformable models; Haptic interfaces; Intelligent robots; Nonlinear equations; Rendering (computer graphics); Shape; Structural beams; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354710
