HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS

Nadjet Talbi, Pierre Joli, Zhi-Qiang Feng, Abderrahmane Kheddar

2008

Abstract

This paper deals principally with the comparison of two efficient algorithms to solve multi-contact problems with friction between two deformable bodies. These two algorithms are based on the bi-potential formulation of the contact laws, offering the control of the solution at each contact point through an unique mathematical operator of projection as well as a better force feedback stability of the friction contact force. For reasons of modular programming, a method to decouple the contact solver from the displacement solver is presented. A Haptic Contact simulator called “HapCo” has been developed as a prototype to test contact algorithms between two deformable objects in the context of interactive simulation with a haptic device.

Paper Citation

in Harvard Style

Talbi N., Joli P., Feng Z. and Kheddar A. (2008). HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS . In Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008) ISBN 978-989-8111-20-3, pages 55-61. DOI: 10.5220/0001095900550061

in Bibtex Style

@conference{grapp08,
author={Nadjet Talbi and Pierre Joli and Zhi-Qiang Feng and Abderrahmane Kheddar},
title={HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS},
booktitle={Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)},
year={2008},
pages={55-61},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001095900550061},
isbn={978-989-8111-20-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)
TI - HAPCO: REAL TIME SIMULATION OF INTERACTION BETWEEN DEFORMABLE OBJECTS WITH HAPTIC FEEDBACK FOR SOLVING FRICTION MULTIPLE CONTACTS
SN - 978-989-8111-20-3
AU - Talbi N.
AU - Joli P.
AU - Feng Z.
AU - Kheddar A.
PY - 2008
SP - 55
EP - 61
DO - 10.5220/0001095900550061