Assembly planning and evaluation is an important component of the product design process
in which details about how parts of a new product will be put together are formalized. A well …

This paper reviews the state-of-the-art methodologies for develo** computer-aided design
(CAD) model based systems for assembly simulation, planning and training. Methods for …

This paper presents implementation of a highly dynamic running gait with a hierarchical
controller on the MIT Cheetah. The developed controller enables high-speed running of up …

Despite widespread interest in virtual reality, research and development efforts in synthetic
environments (SE)--the field encompassing virtual environments, teleoperation, and hybrids …

Many textiles do not noticeably stretch under their own weight. Unfortunately, for better
performance many cloth solvers disregard this fact. We propose a method to obtain very low …

Current linear-time simulation methods for articulated figures are based exclusively on
reduced-coordinate formulations. This paper describes a general, non-iterative linear-time …

We introduce a promising new approach to rigid body dynamic simulation called impulse-
based simulation. The method is well suited to modeling physical systems with large …

Interactive rigid body simulation is an important part of many modern computer tools, which
no authoring tool nor game engine can do without. Such high‐performance computer tools …

We present a new particle-based approach to sampling and controlling implicit surfaces. A
simple constraint locks a set of particles onto a surface while the particles and the surface …

Virtual environments presented via head-mounted, computer-driven displays provide a new
media for communication. They may be analyzed by considering:(1) what may be meant by …