We present an interactive method that allows animated characters to navigate through cluttered environments. Our characters are equipped with a variety of motion skills to clear obstacles, narrow passages, and highly constrained environment features. Our control method incorporates a behavior model into well-known, standard path planning algorithms. Our behavior model, called deformable motion,...

This paper presents a new image morphing technique using deformable surfaces. Drawbacks of previous techniques are overcome by a physically-based approach which provides an intuitive model for a warp. A warp is derived by two deformable surfaces which specify horizontal and vertical displacements of points on an image. This paper also considers the control of transition behavior in a metamorpho...

The Web provides a useful environment for simple surgical training simulations. A combination of VRML for 3D rendering, and Java code for the simulation engine, has been used for a range of simple neurosurgical demonstrators. However the elements in these simulators are rigid, to avoid the computational complexity of deformable modelling. In this paper we describe a variation of the ChainMail t...

In this paper, investigations into the robotic cutting of soft deformable materials are discussed. A force vision cooperative controller is proposed to deal with the object flexibility and uncertain modeling parameters. The control scheme is firstly tested within a simulator environment and then validated on an experimental cell. The construction of the simulator is described and the interactio...

In many haptic applications, the user interacts with the virtual environment through a rigid tool. Tool-based interaction is suitable in many applications, but the constraint of using rigid tools is not applicable to some situations, such as the use of catheters in virtual surgery, or of a rubber part in an assembly simulation. Rigid-tool-based interaction is also unable to provide force feedba...

This paper presents the implementation of a deformable slider joint in the framework of a multibody simulation environment. A slider joint constrains the motion of a rigid body point along a line: a deformable slider joint allows the constrained point to move along a series of deformable beams, switching from one to the other without encountering serious numerical discontinuities. The behavior ...

Augmented Reality (AR) techniques can be applied in medicine to help physicians in diagnosis, treatment planning, surgery simulation, among others. In craniofacial treatments, it can also be used to support prediction in patient’s own body. In this context, AR applications should fill more requirements than usual, like markerless support, tracking deformable objects and volume rendering. This p...

We propose a fully monolithic two-way coupling framework that couples incompressible fluids to reduced deformable bodies. Notably, the resulting linear system matrix is both symmetric and positive-definite. Our method allows for the simulation of interesting free-surface as well as underwater phenomena, enabling the use of reduced deformable bodies as full-fledged simulation primitives alongsid...