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research article
Finite elements in task-level animation
This paper addresses the problem of grasping rigid and deformable objects in a task-level animation system. After an introduction on task planning and grasping, it emphasizes the use of FEM for modelling both elastically and plastically deformations of objects, and impacts with or without penetration between deformable objects. A numerical method based on finite element theory allows us to take into account the active forces of the fingers on the object and the reactive forces of the object on the fingers
Type
research article
Authors
Publication date
1995
Published in
Volume
19
Issue
4
Start page
227
End page
42
Note
MIRALab, Geneva Univ., Switzerland
Peer reviewed
REVIEWED
EPFL units
Available on Infoscience
January 16, 2007
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