Recent advances in both anthropomorphic robots and bimanual industrial manipulators had
led to an increased interest in the specific problems pertaining to dual arm manipulation. For …

Manipulation of deformable objects has given rise to an important set of open problems in
the field of robotics. Application areas include robotic surgery, household robotics …

As a flexible needle with a bevel tip is pushed through soft tissue, the asymmetry of the tip
causes the needle to bend. We propose that, by using nonholonomic kinematics, control …

We present an interactive system that lets a user move and deform a two-dimensional shape
without manually establishing a skeleton or freeform deformation (FFD) domain beforehand …

Physically based deformable models have been widely embraced by the Computer
Graphics community. Many problems outlined in a previous survey by Gibson and Mirtich …

In this paper we present a fast and robust approach for simulating elasto-plastic materials
and fracture in real time. Our method extends the warped stiffness finite element approach …

We present a method for modeling and animating a wide spectrum of volumetric objects,
with material properties anywhere in the range from stiff elastic to highly plastic. Both the …

The linear strain measures that are commonly used in real-time animations of deformable
objects yield fast and stable simulations. However, they are not suitable for large …

The dynamic simulation of mechanical effects has a long history in computer graphics. The
classical methods in this field discretize Newton's second law in a variety of Lagrangian or …

We present an algorithm for fast, physically accurate simulation of deformable objects
suitable for real time animation and virtual environment interaction. We describe the …