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- W4214906688 abstract "AbstractManipulation tasks require capturing the deformations undergone by the manipulated object. In order to handle various sorts and magnitudes of deformations, physical deformation models have been employed based on FEM. By resorting to linear elasticity with a volumetric formulation, these models simulate large strains while handling volumetric effects. For perception, such modelling provides physically consistent regularization to registered deformations, especially over areas unobserved by the sensing system. Besides elasticity modelling, fracture models are investigated to cope with potential cracks or tears of the manipulated objects as well as collision models to deal with multiple interacting objects or interactions with the environment. Also, these models have proven to be computationally efficient and are thus suitable for dynamic manipulation. This chapter is based on the works presented in [1, 2]." @default.
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- W4214906688 date "2022-01-01" @default.
- W4214906688 modified "2023-10-16" @default.
- W4214906688 title "Deformation Modelling for a Physics-Based Perception System" @default.
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- W4214906688 doi "https://doi.org/10.1007/978-3-030-93290-9_1" @default.
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