Title :
Identifying physical properties of deformable objects by using particle filters
Author :
Burion, Steve ; Conti, Francois ; Petrovskaya, Anna ; Baur, Charles ; Khatib, Oussama
Author_Institution :
VRAI-Group, IPR LSRO, Lausanne
Abstract :
This paper presents a new approach for estimating physical properties of deformable models from experimental measurements. In contrast to most previous work, we introduce a new method based on particle filters which identifies the different stiffness properties for spring-based models. This approach addresses some important limitations encountered with gradient descent techniques which often converge towards ill solutions or remain fixed in local minima conditions.
Keywords :
gradient methods; particle filtering (numerical methods); deformable objects; gradient descent techniques; local minima conditions; particle filters; spring-based models; stiffness properties; Computational modeling; Computer simulation; Deformable models; Engines; Finite element methods; Force measurement; Neural networks; Particle filters; Physics; USA Councils; deformable bodies; model estimation; particle filter; real-time; simulation;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543353