ABSTRACT
We describe models and algorithms designed to pro duce efficient and physically consistent dynamic sim ulations. These models and algorithms have been im plemented within the Robot# system[13] which can po tentially be configured for a large variety of intervention-style tasks such as dextrous manipulations with a robot hand; manipulation of non-rigid objects; tele programming of the motions of an all-terrain vehicle; and some robot assisted surgery tasks (e.g. positioning of an artificial ligament in knee surgery). The approach uses a novel physically based modeling technique to pro duce dynamic simulations which are both efficient and consistent according to the laws of the Physics. The main advances over previous works in Robotics and Computer Graphics fields are twofold: the development of a unique framework for simultaneously processing motions, deformations, and physical interactions; and the incorporation of appropriate models and algorithms for obtaining efficient processing times while insuring consistent physical behaviors.
