Modeling motion and contact dynamics is central to all computational disciplines that deal with representations of dynamical systems in the physical world or the virtual environment. The problem is especially challenging for highly articulated and deformable models.
In this talk, I will focus on some of our recent efforts on robot algorithms for motion planning, collision detection, dynamic simulation, and contact processing of multi-body systems and deformable models. Specifically I will present novel algorithms on continuous collision detection for articulated and deformable models, adaptive forward dynamics, constraint-based planning for serpentine robots, and dynamic simulations of soft, articulated bodies in contact. I will also demonstrate the results on some interactive applications, including catheterization procedure for liver chemoembolization and haptic rendering of soft, deformable bodies.