This paper reviews the state-of-the-art methodologies for developing computer-aided design
(CAD) model based systems for assembly simulation, planning and training. Methods for …

We argue that learning about the nature and utility of scientific models and engaging in the
process of creating and testing models should be a central focus of science education. To …

How can a robot decide what motions to perform in order to achieve tasks in the physical
world? Robot motion planning encompasses several different disciplines, most notably …

Many applications in Computer Graphics require fast and robust 3D collision detection
algorithms. These algorithms can be grouped into four approaches: space–time volume …

Dynamic simulation is a powerful application of today's computers, with uses in fields
ranging from engineering to animation to virtual reality. This thesis introduces a new …

A simple, fast, and approximate voxel-based approach to 6-DOF haptic rendering is
presented. It can reliably sustain a 1000 Hz haptic refresh rate without resorting to …

Natural human computer interaction motivates hand tracking research, preferably without
requiring the user to wear special hardware or markers. Ideally, a hand tracking solution …

We introduce a promising new approach to rigid body dynamic simulation called impulse-
based simulation. The method is well suited to modeling physical systems with large …

We consider the simulation of nonconvex rigid bodies focusing on interactions such as
collision, contact, friction (kinetic, static, rolling and spinning) and stacking. We advocate …

This paper presents the open architecture humanoid robotics platform (OpenHRP) which
consists of a simulator and motion control library of humanoid robots. The binary software …