A number of outstanding problems in robotic motion and manipulation involve tasks where degrees of freedom (DoF), be they part of the robot, an object being manipulated, or the surrounding environment, cannot be accurately controlled by the actuators of the robot alone. Rather, they are also controlled by physical properties or interactions – contact, robot dynamics, actuator behavior – that ar...

A new hybrid approach for deformable models is presented here and carried out in a virtual reality environment, achieving real time performance with haptic interactions. Our implementation consists in using two approaches for the deformable model. The deformation is modelled using simultaneously a Finite Element Method and a Mesh Free Method. With this Mesh Free method, particles are used to si...

In this paper, we present a method for simulating the interaction of fluids with deformable solids. The method is designed for the use in interactive systems such as virtual surgery simulators where the real-time interplay of liquids and surrounding tissue is important. In computer graphics, a variety of techniques have been proposed to model liquids and deformable objects at interactive rates....

The interaction models that are currently dominant in smartphones neglect the capabilities that human hands have to extract information and manipulate objects dexterously. In response to this, tangible, organic and deformable UIs have been proposed. Research is showing that interacting by deforming a UI offers a great amount of control over continuous parameters, and an excellent user experienc...

This paper deals with the robust manipulation of deformable linear objects such as hoses or wires. We propose manipulation based on the qualitative contact state between the deformable workpiece and a rigid environment. First, we give an enumeration of possible contact states and discuss the main characteristics of each state. Second, we investigate the transitions which are possible between th...

The problem of segmenting agricultural fields in aerial images is still a manual work in most Geographic Information System requiring repetitive, tedious and timeconsuming human work. Here, we address the problem of semiautomatic segmenting agricultural fields by region competition technique that integrates region growing and deformable models. The deformable model dynamically adapts its contou...

We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically generate active animations. We model the frictional contact forces using contact invariant optimization and the fluid drag forces using a simplified model. ...

In the fields of virtual reality, physically-based simulation focuses on reproducing the motion and properties of real objects in virtual environments. Until now, various physically-based models of mechanical phenomena have been proposed in the literature, simulating several physical properties such as rigid, fluid or deformable behaviors of the multiple real-life objects. In this master thesis...

We present a reactive controller designed to improve the execution of cost-space paths in the presence of sensor and modeling error that would otherwise result in significantly increased cost. In particular, we are concerned with the execution of paths planned in deformable environments, such as those produced using our cost-space planners [1]. In our previous work, executions of paths produced...