Physical modeling framework for robotics applications

This paper shows how it is possible to extend a discrete physics modeling framework, the mass-springs systems used to describe objects in animation, to robotics applications. Previous work on mass-springs systems resulted in modeling physical phenomena or in artificial life animation synthesis. This paper analyses the possibility to control a physical system by another in order to model complex heterogeneous time-dependent systems, as found in robotics applications or in artificial life. The work described is based on Cordis-Anima, a particle-based modeling framework. An application of a mobile-following-target, in which both mobile and controller are complex mass-springs structures and all interaction forces with the environment are simulated, is presented. Several synthesis animation frames are presented showing the mobile and controller´s behavior.