Digital Elevation Map Reconstruction for Port-based Dynamic Simulation of Contacts on Irregular Surfaces

M. Wassink, Raffaella Carloni, Pantelis Poulakis, Stefano Stramigioli

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    This paper presents a method to utilize a port-based multibody contact model for simulating dynamic interaction between irregular surfaces. The existing compliant contact model requires an analytic parametrization of the surfaces involved in the interaction, the definition of a Gauss frame in each of the contact points and initialization of the candidate contact points. The authors intend to apply this contact model for cases in which the surfaces of the 3D interacting bodies can not be described (easily) by a geometrically defined surface. Such surfaces are often represented by 3D point meshes. This implies that the surfaces of the bodies have to be reconstructed from 3D point meshes where initialization of the candidate contact points is not arbitrary. This paper proposes the reconstruction of such surfaces by means of polynomial interpolation. With the aim of having a computationally efficient simulator, the surface interpolation is restricted to small patches around the candidate contact points. To select these candidates, the proposed simulation approach is completed by using a fast (existing) collision detection algorithm. Simulation results are validating the effectiveness of the proposed modeling and simulation approach.
    Original languageUndefined
    Title of host publicationThe 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationLos Alamitos
    Number of pages6
    ISBN (Print)978-1-4244-3804-4
    Publication statusPublished - 11 Oct 2009
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, United States
    Duration: 10 Oct 200915 Oct 2009

    Publication series

    PublisherIEEE Computer Society Press


    Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Abbreviated titleIROS
    Country/TerritoryUnited States
    CitySt. Louis


    • METIS-264173
    • IR-68666
    • contact modeling
    • EWI-16562
    • Port-based modeling
    • dynamic contact simulation
    • Digital Elevation Map reconstruction
    • surface interpolation

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