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Information of high-level, topological contact states is useful and sometimes even necessary for a wide range of robotic tasks involving interactions between a robot and its environment or objects of manipulation. While most of the existing research is focused on contact states between two rigid bodies, this paper presents a practical approach to represent concisely and generate automatically graphs...
Information of high-level, topological contact states is useful for robotic assembly in the presence of uncertainty. All possible contact states in the process of an assembly operation due to uncertainty can be described in a contact state graph for assembly. This paper addresses how to represent concisely and generate automatically such a graph between general curved objects, which may include curved...
Contact and deformation modeling for interactive environments has seen many applications, from surgical simulation and training, to virtual prototyping, to teleoperation, etc., where both visual feedback and haptic feedback are needed. High-quality feedback demands a high level of physical realism as well as a high update rate in rendering, which are often conflicting requirements. In this paper,...
While there is considerable research on automatic assembly and virtual assembly of rigid parts, much less research is focused on assembly tasks involving deformable parts such as tubes, wires or deformable tools, etc. In this paper, we present a novel approach for simulating the behavior of the elastic tube via haptics during virtual assembly and modeling contact forces with high-fidelity and high...
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