Towards Realistic Dynamic Simulation Deformations and Collisions Models.pdfVIP

Published in Pr oc of the Workshop Dynamic Simulation Methods and Applications Pages Workshop held in asso ciation with the IEEERSJ Int Conf on Intelligent Rob ots and Systems Grenoble France Septembre Towards Realistic Dynamic Simulation Deformations and Collisions Mo dels A Joukhadar A Deguet and C Laugier INRIA Rhone Alp es Montb onnot Saint Martin FRANCE Abstract In this pap er we describ e mo dels and algorithms designed to pro duce ecient and physically consistent dynamic simulations These mo dels and algorithms have b een implemented in a unique framework mo deling b oth deformations and contacts through viscoelastic relations Since this mo del of interaction known as p enalty based is much debated we present a compared study of two contact mo dels p enalty and impulse Indeed the p enalty based mo del is supp osed to have two ma jor drawbacks deter mining the viscoelastic parameters and cho osing the computation time step We present a solution for b oth problems based on physical concepts Finally we will present results comparing real data impulse based simulation and p enalty based simulation Towards Realistic Dynamic Simulation Deformations and Collisions Mo dels A Joukhadar A Deguet and C Laugier y Sharp INRIA RhoneAlp es GRAVIR avenue de lEurop e Montb onnot Saint Martin France Am