Ruediger Schmedding

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In 3D deformable modeling approaches based on FEM, inverted tetrahedral elements can cause undesired visual artifacts and the breakdown of the simulation. As inversion can never be avoided and sometimes is even the correct behavior of elements, there is a strong need for stable inversion handling. In this paper, we propose a novel method to resolve inverted(More)
In this paper, we consider the problem of determining the elasticity properties of deformable objects with a mobile manipulator equipped with a force sensorb. We learn the parameters by establishing a relation between the applied forces and the corresponding surface deformations. To determine the parameters, we minimize the difference between the observed(More)
Collision handling is a comparatively timeconsuming task in dynamic simulations and the computational efficiency of collision handling techniques can vary significantly dependent on the spatial configuration of the environment. These issues have to be addressed in interactive simulations such as games or surgical simulators, where a pre-defined response(More)
In this paper, we consider the problem of mobile robots navigating in environments with non-rigid objects. Whereas robots can plan their paths more effectively when they utilize the information about the deformability of objects, they also need to consider the influence of the interaction with the deformable objects on their measurements during the(More)
Dynamic simulations can benefit a lot from an appropriate damping approach. For example, the stability is improved and a larger time step can be chosen. Furthermore, badly shaped meshes, e. g. containing sharp angles or slivers, can be handled if a proper damping approach is used. However, it must be ensured that the damping forces do not change the global(More)
In this paper, we present our recently developed robotic system that can navigate in environments with deformable objects. To achieve this, we propose techniques to learn models of deformable objects by physical interaction between the robot and the objects. We determine the model parameters by establishing a relation between the applied forces and the(More)
In this paper, we address the problem of robot navigation in environments with deformable objects. The aim is to include the costs of object deformations when planning the robot’s motions and trade them off against the travel costs. We present our recently developed robotic system that is able to acquire deformation models of real objects. The robot(More)
In this paper, we introduce a novel approach for global registration of partially overlapping point clouds. The approach identifies feature points of matching objects based on surface-approximating polynomials and finds an initial transformation depending on these polynomials. We compute an extended set of rotationally-invariant features for polynomials. In(More)
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