Real-Time Dynamic Model for Animation of Poly-Articulated Objects in Constrained Environments with Contact with Friction and Local Deformations: Application to Humanoids and Virtual Avatars
Identifieur interne : 000437 ( Hal/Corpus ); précédent : 000436; suivant : 000438Real-Time Dynamic Model for Animation of Poly-Articulated Objects in Constrained Environments with Contact with Friction and Local Deformations: Application to Humanoids and Virtual Avatars
Auteurs : Jean-Rémy ChardonnetSource :
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Abstract
This thesis proposes an interactive dynamic simulation for multibody systems using constraint-based methods for computing interaction forces with friction. This simulator is a part of a general framework for prototyping called AMELIF. We focus on optimizing the computation of the dynamics to obtain real-time simulations that allow to realize interactive collaborative tasks. We also integrate deformation models in order to, first simulate internal flexibilities of actual robots, and second simulate future robots that will have a deformable skin. Our simulator has been validated through different scenarios for manipulation and posture generation.
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34090 Montpellier</addrLine><country key="FR"></country></address><ref type="url">http://www.umontpellier.fr/</ref></desc></org></tutelle><tutelle name="UMR5506" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Dynamic simulation</term><term>constraint-based methods</term><term>contact with friction</term><term>deformable bodies</term><term>haptic interaction</term><term>humanoid robots</term><term>manipulation</term></keywords><keywords scheme="mix" xml:lang="fr"><term>Simulation dynamique</term><term>contact avec frottements</term><term>corps déformables</term><term>interaction haptique</term><term>méthodes par contraintes</term><term>robots humanoïdes</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This thesis proposes an interactive dynamic simulation for multibody systems using constraint-based methods for computing interaction forces with friction. This simulator is a part of a general framework for prototyping called AMELIF. We focus on optimizing the computation of the dynamics to obtain real-time simulations that allow to realize interactive collaborative tasks. We also integrate deformation models in order to, first simulate internal flexibilities of actual robots, and second simulate future robots that will have a deformable skin. Our simulator has been validated through different scenarios for manipulation and posture generation.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Real-Time Dynamic Model for Animation of Poly-Articulated Objects in Constrained Environments with Contact with Friction and Local Deformations: Application to Humanoids and Virtual Avatars</title><title xml:lang="fr">Modèle Dynamique Temps-Réel pour l'Animation d'Objets Poly-Articulés dans les Environnements Contraints, Prise en Compte des Contacts Frottants et des Déformations Locales : Application en Robotique Humanoïde et aux Avatars Virtuels</title><author role="aut"><persName><forename type="first">Jean-Rémy</forename><surname>Chardonnet</surname></persName><email></email><idno type="halauthor">139296</idno><affiliation ref="#struct-181"></affiliation></author><editor role="depositor"><persName><forename>Martine</forename><surname>Peridier</surname></persName><email>peridier@lirmm.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2009-07-23 16:32:30</date><date type="whenModified">2016-01-21 01:00:55</date><date type="whenReleased">2009-07-23 17:07:35</date><date type="whenProduced">2009-06-23</date><date type="whenEndEmbargoed">2009-07-23</date><ref type="file" target="https://tel.archives-ouvertes.fr/tel-00406932/document"><date notBefore="2009-07-23"></date></ref><ref type="file" n="1" target="https://tel.archives-ouvertes.fr/tel-00406932/file/These_JRChardonnet.pdf"><date notBefore="2009-07-23"></date></ref></edition><respStmt><resp>contributor</resp><name key="103101"><persName><forename>Martine</forename><surname>Peridier</surname></persName><email>peridier@lirmm.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">tel-00406932</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-00406932</idno><idno type="halBibtex">chardonnet:tel-00406932</idno><idno type="halRefHtml">Sciences de l'ingénieur [physics]. Université Montpellier II - Sciences et Techniques du Languedoc, 2009. Français</idno><idno type="halRef">Sciences de l'ingénieur [physics]. Université Montpellier II - Sciences et Techniques du Languedoc, 2009. Français</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="LIRMM">Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</idno></seriesStmt><notesStmt></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Real-Time Dynamic Model for Animation of Poly-Articulated Objects in Constrained Environments with Contact with Friction and Local Deformations: Application to Humanoids and Virtual Avatars</title><title xml:lang="fr">Modèle Dynamique Temps-Réel pour l'Animation d'Objets Poly-Articulés dans les Environnements Contraints, Prise en Compte des Contacts Frottants et des Déformations Locales : Application en Robotique Humanoïde et aux Avatars Virtuels</title><author role="aut"><persName><forename type="first">Jean-Rémy</forename><surname>Chardonnet</surname></persName><idno type="halAuthorId">139296</idno><affiliation ref="#struct-181"></affiliation></author></analytic><monogr><imprint><date type="dateDefended">2009-06-23</date></imprint><authority type="institution">Université Montpellier II - Sciences et Techniques du Languedoc</authority><authority type="school">Information, Structures, Systèmes</authority><authority type="supervisor">François Pierrot, Abderrahmane Kheddar</authority><authority type="jury">Marie-Paule Cani (présidente)</authority><authority type="jury">Martin Buss (rapporteur)</authority><authority type="jury">Fethi Ben Ouezdou (rapporteur)</authority><authority type="jury">Eiichi Yoshida (examinateur)</authority><authority type="jury">André Crosnier (examinateur)</authority></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="fr">French</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">Dynamic simulation</term><term xml:lang="en">constraint-based methods</term><term xml:lang="en">haptic interaction</term><term xml:lang="en">contact with friction</term><term xml:lang="en">deformable bodies</term><term xml:lang="en">manipulation</term><term xml:lang="en">humanoid robots</term><term xml:lang="fr">Simulation dynamique</term><term xml:lang="fr">méthodes par contraintes</term><term xml:lang="fr">interaction haptique</term><term xml:lang="fr">corps déformables</term><term xml:lang="fr">contact avec frottements</term><term xml:lang="fr">robots humanoïdes</term></keywords><classCode scheme="halDomain" n="spi">Engineering Sciences [physics]</classCode><classCode scheme="halTypology" n="THESE">Theses</classCode></textClass><abstract xml:lang="en">This thesis proposes an interactive dynamic simulation for multibody systems using constraint-based methods for computing interaction forces with friction. This simulator is a part of a general framework for prototyping called AMELIF. We focus on optimizing the computation of the dynamics to obtain real-time simulations that allow to realize interactive collaborative tasks. We also integrate deformation models in order to, first simulate internal flexibilities of actual robots, and second simulate future robots that will have a deformable skin. Our simulator has been validated through different scenarios for manipulation and posture generation.</abstract><abstract xml:lang="fr">Ce travail de thèse présente un simulateur dynamique interactif pour corps poly-articulés utilisant des méthodes par contraintes pour calculer les efforts d'interaction avec frottements. Ce simulateur est une partie intégrante d'un logiciel de prototypage nommé AMELIF. Nous nous intéressons à optimiser le calcul de la dynamique pour obtenir des simulations en temps-réel et qui nous permettent de réaliser des tâches collaboratives interactives. Nous intégrons également des modèles de déformations pour pouvoir simuler, d'une part les flexibilités internes présentes sur les robots actuels, et d'autre part les futurs robots munis d'une peau flexible. Notre simulateur a été validé par différents scénarios de manipulation et de génération de postures.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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