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Data-driven computation of contact dynamics during two-point manipulation of deformable objects

conference contribution
posted on 2011-01-01, 00:00 authored by Wael Abdelrahman, Saeid Nahavandi, Douglas CreightonDouglas Creighton, M Harders
This study represents a preliminary step towards data-driven computation of contact dynamics during manipulation of deformable objects at two points of contact. A modeling approach is proposed that characterizes the individual interaction at both points and the mutual effects of the two interactions on each other via a set of parameters. Both global as well as local coordinate systems are tested for encoding the contact mechanics. Artificial neural networks are trained on simulated data to capture the object behavior. A comparison of test data with the output of the trained system reveals a mean squared error percentage between 1% and 3% for simple interactions.

History

Event

Innovative Virtual Reality. World Conference (2011 : Milan, Italy)

Pagination

377 - 384

Publisher

ASME

Location

Milan, Italy

Place of publication

[Milan, Italy]

Start date

2011-06-27

End date

2011-06-29

ISBN-13

9780791844328

Language

eng

Notes

Paper No. WINVR2011-5560

Publication classification

E1 Full written paper - refereed

Copyright notice

2011, ASME

Title of proceedings

ASME 2011 : Proceedings of the Innovative Virtual Reality (WINVR) 2011 World Conference

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