Brian Mirtich and John Canny. Impulsebased dynamic simulation. In WAFR: Proceedings of the workshop on Algorithmic foundations of robotics, pages 407--418, Natick, MA, USA, 1994. A. K. Peters, Ltd.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....disjoint polyhedra, the algorithms refine their hierarchies only to the coarsest level at which the resulting bounding volumes are disjoint. Beginning with Guttmann s introduction of the R tree in the early 1980s [17] several types of bounding volume hierarchies have been proposed and implemented [1, 15, 16, 19, 20, 22, 24]. Unfortunately, all of these methods in fact, any related method that uses a hierarchy of convex bounding volumes can be forced to spend# ) time to determine whether two n vertex polyhedra intersect. The worst case example consists of two polyhedra whose edges approximate a twisted grid, ....

B. Mirtich and J. Canny. Impulse-based dynamic simulation. The Algorithmic Foundations of Robotics, 1995. A. K. Peters.

....1. 3 Dynamic Motion Models In the system described previously [12] only interactions between a simple representative object were considered. Inter object interactions were not modeled. Considerable work in modeling interactions between multiple simple rigid bodies has been conducted [2] 1] [8]. Most of these systems, however, are too slow for interactive simulation and can not model articulated linkages efficiently. Efficiency can be improved by modeling only the true degrees of freedom of the system and avoid solving for the internal constraints of the system. The configuration of an ....

Mirtich, B., (1994), Impulse-based Dynamic Simulation, Proceedings of the Workshop on the Algorithmic Foundations of Robotics.

....value is computed for every pair to establish the buckets, but only one pair per bucket is updated at each subsequent time instant. Thus, pairs with lower awareness values get updated more frequently. Moreover, as their awareness values change, pairs may percolate from bucket to bucket. In [60] a heap is used to store object pairs and earliest collision times, so that the pair on the top is the nearest to collide. This earliest collision time is computed from the distance between the objects, current velocities and accelerations, and acceleration bounds assuming ballistic trajectories ....

Mirtich, B., and Canny, J. Impulse-based dynamic simulation. In Proc. Workshop on Algorithmic Foundations of Robotics (1994).

....have penetrated. The simulator Coriolis [1] 2] 3] developed by David Baraff constructs a system of simultaneous constraints, which is solved to find the exact contact forces and impulses required to prevent inter penetration. The simulator Impulse developed by Brian Mirtich and John Canny [8] models all inter object interaction as a series of tiny micro collisions. Only impulses (not contact forces) are applied to the objects to model contact. Despite this modeling simplification, in tests comparing simulated and real systems, Impulse has demonstrated that it can accurately model the ....

....simpact we have developed. Simpact makes use of the contact space formulation to simulate interaction between generalized objects. Note that a complete description of the collision contact equations is beyond the scope of this paper and a basic familiarity with Baraff s [1] and Mirtich s [8] simulation systems is assumed. 2 Free Space Motion The configuration of an n DOF (degree of freedom) object can be described by q, a set of n independent generalized coordinates. Joint angles are generally used as the generalized coordinates for robots, but other sets of parameters that satisfy ....

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B. Mirtich, J. Canny, "Impulse-based Dynamic Simulation, " Proceedings of Workshop on Algorithmic Foundations of Robotics, February 1994.

....forces, and contact forces. The computational problem is to determine the pairs of touching bone features and to compute the ensuing contact forces at each time step. The integration is straightforward once the contact forces are known, since it is a small initialvalue problem. Current simulators [4, 19, 16] perform collision detection on the part models at each time step. They examine all pairs of part features in the worst case, making the running time per step quadratic in the geometric complexity of the parts. Although clever methods exist for speeding up the computation, they do not apply to ....

Mirtich, B. and Canny, J. Impulse-based dynamic simulation. In Goldberg et al. [13].

....In the GALILEO module (that is part of the VR softwareplatform DBView developed at the VRCC) we concentrate on unilateral contact situations, although the approaches would also be appropriate for the simulation of bilateral contact situations. The impulse based technique due to Mirtich and Canny ([MC94], MC95] that is itself based on Stronge ( St90] St91] Keller [Ke86] and Hahn [Ha88] is especially suitable for the simulation of temporary contacts at one contact point. We reimplemented their approach. The constraint based technique is based on a work of Stewart and Trinkle [ST95] who ....

B. Mirtich, J. Canny, Impulse-based dynamic simulation, in K. Goldberg, D. Halperin, J. C. Latombe, R. Wilson, editors, The Algorithmic Foundations of Robotics, A. K. Peters, Boston, MA, 1994

....objects that cannot possibly collide. The narrow phase is more specialized, according to the types of objects being considered. The simplest objects to consider are convex polytopes (polygons in the plane, or polyhedra in 3 space) and this case has been extensively considered in the literature [17, 18, 20, 10, 5]. More complex objects are then broken up into convex pieces, which are tested pairwise. Algorithmically, the convex polytope intersection problem is a special case of linear programming; in two and three dimensions even more ecient techniques have been developed in computational geometry, that ....

....step. Not surprisingly, the collision detection problem is closely related to the distance computation problem. Since the distance between two continuously moving polytopes also changes continuously, many well known collision detection algorithms, such as those of Lin and Canny [16, 17] Mirtich [18, 19, 20], and Gilbert et al. 10] see also [4] are based upon tracking the closest pair of features of the polytopes during their motion (which, of course, implies knowledge of the distance between the polytopes) The eciency of these algorithms is based on the fact that, in a small time step, the ....

B. Mirtich and J. Canny. Impulse-based dynamic simulation. The Algorithmic Foundations of Robotics. A. K. Peters, 1995.

....implementation A possible solution is to describe the evolution of the collision according to a parameter other than time. According to B. Mirtich, this parameter fl must be continuous and increase monotonically. The following is an abridged presentation of his approach, for further details, see [20]. As F = mx = m v, p = R F (t)dt can be rewritten to get p = R 2 1 m v = m(v 2 Gamma v 1 ) m Deltav. Introducing fl, we obtain p(fl) m(v(fl) Gamma v(0) For simplicity, the matrix M is introduced, which yields Mp(fl) v(fl) Gamma v(0) 1) and by differentiation with respect to fl, ....

B. V. Mirtich and J. F. Canny. Impulse-based dynamic simulation. In Proc. of the Workshop on the Algorithmic Foundations of Robotics, San Francisco (CA), February 1994.

....using such pushes. Although the current paper assumes quasi static interactions of parts, other authors have presented methods to treat part dynamics. Gilmore and Streit[8] present a rule based system for predicting the dynamic behavior of parts as they move across fences. Mirtich and Canny[16] introduce an efficient method for modelling dynamic part behavior based on impulse simulation, which might be used to predict the dynamic behavior of a given fence design. Brost[5] presents geometric analytical methods for representing the three dimensional configuration space obstacles formed by ....

Brian Mirtich and John Canny. Impulse-based dynamic simulation. In The First Workshop on the Algorithmic Foundations of Robotics. A. K. Peters, Boston, MA, 1995.

....f i . Impulse Based Approach One of the most di cult aspect of dynamic simulation is dealing with the interactions between bodies in contact. Most of the work which has been done in this area falls into the category of constraint based methods [3] 4] 11] 45] 34] Brian Mirtich and John Canny [32], 33] proposed a di erent approach impulse based approach. Consider a ball rolling along a table top, the normal force that the table exerts on the ball is a constraint force that does not do work on the ball, but only enforces a non penetrating constraint. In a constraint based approach, this ....

Brian Mirtich and John F. Canny. Impulse based dynamic simulation. In The algorithmic foundations of robotics. A.K.Peters, Boston, MA, 1995.

....forces, and contact forces. The computational problem is to determine the pairs of touching bone features and to compute the ensuing contact forces at each time step. The integration is straightforward once the contact forces are known, since it is a small initialvalue problem. Current simulators [9, 24, 20] perform collision detection on the part models at each time step. They examine all pairs of part features in the worst case, making the running time per step quadratic in the geometric complexity of the parts. Although clever methods exist for speeding up the computation, they do not apply to ....

Brian Mirtich and John Canny. Impulse-based dynamic simulation. In Goldberg et al.

.... much more correct modeling is possible as it is for multibody problems (see classical problems with e.g. energy gains, transition from static to dynamic friction, paradoxa of Painlev e, static indeterminacy, jamming and wedging) The impulse based technique as described by Mirtich and Canny ([MC94], MC95] based on Stronge [St90] Keller [Ke86] and Hahn [Ha88] is especially suitable for the simulation of temporary contacts at a single contact point (see example of the hopping ball) The constraint based technique according to Sauer and Sch omer [SS98b] is based on a work of Stewart and ....

B. Mirtich, J. Canny, 1994, "Impulse-based dynamic simulation", in K. Goldberg, D. Halperin, J. C. Latombe, R. Wilson, editors, The Algorithmic Foundations of Robotics, A. K. Peters, Boston, MA

....of constraints by Lagrange multipliers. For collision detection, we rely on Lin and Manocha s optimization technique [7] The handling of collisions by springs was already proposed by Moore and Wilhelms [9] Newer (and still experimental) approaches are Mirtich and Canny s microimpulse model [8], and Baraff s detailed analysis of the classical impulse and contact force model [1, 2] 1.2 Notation We denote a row vector by [u 1 ; u 2 ; um ] A point u of R m (an m vector) is by definition a column vector. If f is a scalar function of a vector u 2 R m , we denote by f= u ....

B. Mirtich and J. Canny. Impulse-based dynamic simulation. Technical report, Department of Computer Science,University of California, Berkeley, CA, 1994.

....Higuchi [9] demonstrated linear micropositioning using an electromagnetic coil to deliver an impulsive force. More recently, Yamagata and Higuchi [18] have developed a piezoelectric device to deliver impulsive forces to do micropositioning for precision optical components. Mirtich and Canny [14] introduced the idea of impulsebased dynamic simulation, in which all contact between objects is modeled as a series of microcollisions. The limiting cases of impulsive manipulation developed in this paper build upon the results of Huang et al. 12] which presented an analytical formulation and ....

B. Mirtich and J. Canny. Impulse-based dynamic simulation. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, pages 407--418. A. K. Peters, Boston, MA, 1995.

....extensively considered in the literature. More complex objects are approximated by their convex hulls, or broken up into convex pieces, which are tested pairwise. Since the distance between two continuously moving polytopes also changes continuously, many well known collision detection algorithms [5, 9, 10, 11] are based upon tracking the closest pair of features of the polytopes during their motion. The e ciency of these algorithm is based on temporal coherence in a su ciently small time step, the closest pair of features will not change, or will change to some nearby features on the polytopes. Though ....

B. Mirtich and J. Canny. Impulse-based dynamic simulation. The Algorithmic Foundations of Robotics. A. K. Peters, 1995.

.... investigators [15, 16, 17, 14] The main advantages of this paradigm are (1) its physically based appeal, 2) the simplicity of implementation and generality, and (3) computational efficiency: dynamic updates and collision detection, regarded as the major bottleneck in dynamic simulations [18], can be computed in linear time in the number of particles in the lattice. This paper is organized as follows: in Section II the dynamic model of the deformable fingertip is explained. Section III describes how the fingertip is controlled to execute its task. In Section IV, a simulation of the ....

B. Mirtich. Impulse-based dynamic simulation. In K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson, editors, Algorithmic Foundations of Robotics, chapter 13. A. K. Peters, 1995.

....based on a quasistatic motion model first reported in [38] Next we describe a perturbed quasi static estimator that incorporates a model of dynamic stability. We then introduce a third estimator based on repeated Monte Carlo simulation experiments using Impulse, a mechanics simulation package [26, 27, 25]. We discuss impulse based simulation, a paradigm for efficient simulation, and present its model for frictional collisions. Figure 1: A flexible parts feeding workcell using machine vision, a high speed robot arm, and pivoting gripper. To evaluate these estimators, we used the robot and ....

....frictional collisions in a natural way, and for general 3D rigid body simulation, the simulator Impulse has the fastest execution times reported in the literature [27] 5. 1 Computing frictional collisions Details about Impulse, and a comparison of constraint and impulse based simulation are in [26, 27]. In the latter paradigm, all interactions between simulated bodies are affected through frictional collisions, thus a good collision model is crucial to physical accuracy. Our model is similar to that of Routh [33] although we derive equations which are more amenable to numerical integration. ....

Brian Mirtich and John Canny. Impulse-based dynamic simulation. In K. Goldberg, D. Halperin, J.C. Latombe, and R. Wilson, editors, The Algorithmic Foundations of Robotics. A. K. Peters, Boston, MA, 1995.

....the impulse using large time steps. This collision integration scheme can be generalized to collisions between deformable bodies and collisions that involve multiple point contacts. Multiple point collisions are modeled as a set of simultaneous single point collisions. Unlike a general impulse [1, 13, 14], we do not have to distinguish the case that the colliding deformable objects quickly bounce away from each other and that one sticks to or slides on the surface of the other. The bouncing collision, the sticking and sliding contacts, are handled by exactly the same collision integration ....

Brian Mirtich and John Canny. Impulse-based dynamic simulation. In K. Goldberg, D. Halperin, J.C. Latombe, and R. Wilson, editors, The Algorithm Foundations of Robotics. A. K. Peters, Boston, MA,

....haptic interface. A general haptic interface involves multiple virtual proxies (for instance, a virtual hand) therefore multiple point contacts. Since the system is decoupled, such a collision is modeled as a set of simultaneous independent single point collisions. Unlike a general impulse [3, 13, 14], we do not have to distinguish the case that the deformable object bounces quickly away from the virtual proxy and that the proxy sticks to or slides on the surface of the deformable object. The bouncing collisions, the sticking contacts and the sliding contacts are handled by exactly the same ....

Brian Mirtich and John Canny. Impulse-based dynamic simulation. In K. Goldberg, D. Halperin, J.C. Latombe, and R. Wilson, editors, The Algorithm Foundations of Robotics. A. K. Peters, Boston, MA,

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Brian Mirtich and John Canny. Impulsebased dynamic simulation. In WAFR: Proceedings of the workshop on Algorithmic foundations of robotics, pages 407--418, Natick, MA, USA, 1994. A. K. Peters, Ltd.

No context found.

B. Mirtich and J. Canny. Impulse-based dynamic simulation. In K. Y. Goldberg, D. Halperin, J.-C. Latombe, and R. H. Wilson, editors, Algorithmic Foundations of Robotics.A.K.Peters,Wellesley, Massachusetts, 1995.

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B. Mirtich and J. Canny. Impulse-based dynamic simulation. Proceedings of Workshop on Algorithmic Foundations of Robotics, February 1994.

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B. Mirtich and J. Canny. Impulse-based dynamic simulation. The Algorithmic Foundations of Robotics, 1995. A. K. Peters.

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Mirtich B., and Canny J. -- Impulse Based Dynamic Simulation. Proc. 1995 symposium on Interactive 3D Graphics. 181-188 (1995)

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Mirtich, B. and Canny, J. Impulse-based Dynamic Simulation. In Proceedings of 1995 Symposium on Interactive 3D Graphics. 181-188.

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