Asynchronous haptic simulation of contacting deformable objects with variable stiffness

International audienceAbstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object

Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments

International audienceA new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently, the fidelity of haptic rendering depends significantly on contact space modeling. Contact and friction laws between deformable models are often simplified in up to date methods. They do not allow a "realistic" rendering of the subtleties of contact space physical phenomena (such as slip and stick effects due to friction or mechanical coupling between contacts). In this paper, we use Signorini's contact law and Coulomb's friction law as a computer haptics basis. Real-time performance is made possible thanks to a linearization of the behavior in the contact space, formulated as the so-called Delassus operator, and iteratively solved by a Gauss-Seidel type algorithm. Dynamic deformation uses corotational global formulation to obtain the Delassus operator in which the mass and stiffness ratio are dissociated from the simulation time step. This last point is crucial to keep stable haptic feedback. This global approach has been packaged, implemented, and tested. Stable and realistic 6D haptic feedback is demonstrated through a clipping task experiment

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids

Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been developed to model the dynamics of these complex scenes; however, relying on approximation techniques, their simulation often deviates from real-world physics, especially in the long term. In this paper, we propose to learn a particle-based simulator for complex control tasks. Combining learning with particle-based systems brings in two major benefits: first, the learned simulator, just like other particle-based systems, acts widely on objects of different materials; second, the particle-based representation poses strong inductive bias for learning: particles of the same type have the same dynamics within. This enables the model to quickly adapt to new environments of unknown dynamics within a few observations. We demonstrate robots achieving complex manipulation tasks using the learned simulator, such as manipulating fluids and deformable foam, with experiments both in simulation and in the real world. Our study helps lay the foundation for robot learning of dynamic scenes with particle-based representations.Comment: Accepted to ICLR 2019. Project Page: http://dpi.csail.mit.edu Video: https://www.youtube.com/watch?v=FrPpP7aW3L

Individual and collective dynamics of self-propelled soft particles

Deformable self-propelled particles provide us with one of the most important nonlinear dissipative systems, which are related, for example, to the motion of microorganisms. It is emphasized that this is a subject of localized objects in non-equilibrium open systems. We introduce a coupled set of ordinary differential equations to study various dynamics of individual soft particles due to the nonlinear couplings between migration, spinning and deformation. By introducing interactions among the particles, the collective dynamics and its collapse are also investigated by changing the particle density and the interaction strength. We stress that assemblies of self-propelled particles also exhibit a variety of non-equilibrium localized patterns

Interactive Constrained Dynamics for Rigid and Deformable Objects

Following the continuous increase in computational power of consumer hardware, interactive virtual environments have been recently enriched with more and more complex deformable objects. However, many physics engines are still very limited in the way they handle interacting rigid and deformable objects. This paper proposes a constraint-based approach to real-time simulation of coupled rigid and deformable objects capable of providing two-way interactions. Similar techniques have seen widespread usage for either rigid or deformable objects, but not for the simultaneous simulation of both. By extending such approaches, we show not only how interaction is possible but also how it can be performed at real-time rates. We address contact response and also show how to implement typical constraints to enforce limitations in the degrees of freedom and to enhance the dynamical properties of deformable objects. The method is easily integrated into existing physics engines that use similar constraint solvers and is independent on the kind of deformable object paradigm chosen. The provided simulation results show that the method is fast and effective in handling contacts between rigid and deformable objects and in simulating friction and other kinds of constraints