Physical Modeling (Comp 768)
Homeworks
Homework 1: ODE's & Particle Dynamics
Homework 2: Collision Detection Between Rigid Bodies
Homework 3: Rigid Body Dynamics
Class Presentation
I gave a lecture on articulated body dynamics, focusing on the introductory material specifically the basic algorithms for forward and inverse dynamics.
The slides for my presentation can be found here.
Motion Planning for Deformable Models
For my final course project I designed a system for motion planning for deformable robots in deformable environments using a constraint-based framework. The deformations were simulated using an FEM implementing stiffness warping and the planning was done using a modified PRM implementation.