Related papers: Implementation of interaction between soft tissues…

This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…

Robot-assisted neurological surgery is receiving growing interest due to the improved dexterity, precision, and control of surgical tools, which results in better patient outcomes. However, such systems often limit surgeons' natural sensory…

Visual relationship detection aims to detect the interactions between objects in an image; however, this task suffers from combinatorial explosion due to the variety of objects and interactions. Since the interactions associated with the…

Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…

Creation of collision objects for 3D models is a time-consuming task, requiring modelers to manually place primitives such as bounding boxes, capsules, spheres, and other convex primitives to approximate complex meshes. While there has been…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

Skeleton data carries valuable motion information and is widely explored in human action recognition. However, not only the motion information but also the interaction with the environment provides discriminative cues to recognize the…

The friction and adhesion between elastic bodies are strongly influenced by the roughness of the surfaces in contact. Here we develop a multiscale molecular dynamics approach to contact mechanics, which can be used also when the surfaces…

This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…

Triangular meshes are the most popular representations of 3D objects, but many mesh surfaces contain topological singularities that represent a challenge for displaying or further processing them properly. One such singularity is the…

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

This paper presents an analytical model of punctual elastic contact between a rigid body of arbitrary geometry and a plane surface. A simple analytical model is developed in order to evaluate the contact force knowing the volume of…

We present a new method for performing Boolean operations on volumes represented as triangle meshes. In contrast to existing methods which treat meshes as 3D polyhedra and try to partition the faces at their exact intersection curves, we…

This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…

In a Keplerian system, a large number of bodies orbit a central mass. Accretion disks, protoplanetary disks, asteroid belts, and planetary rings are examples. Simulations of these systems require algorithms that are computationally…

The increasing availability of digital 3D environments, whether through image-based 3D reconstruction, generation, or scans obtained by robots, is driving innovation across various applications. These come with a significant demand for 3D…

We introduce an Eulerian approach for problems involving one or more soft solids immersed in a fluid, which permits mechanical interactions between all phases. The reference map variable is exploited to simulate finite-deformation…

Inspired by insects' visual brains, this paper presents original modelling of a complementary visual neuronal systems model for real-time and robust collision sensing. Two categories of wide-field motion sensitive neurons, i.e., the lobula…