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