Robot Dynamics Algorithm
Practical parameterization of rotations using the exponential map
Journal of Graphics Tools
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Game Physics
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
IEEE Transactions on Visualization and Computer Graphics
Proceedings of the 2007 ACM SIGGRAPH symposium on Video games
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
A generalized framework for interactive dynamic simulation for multirigid bodies
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A PHANTOM® Device with 6DOF Force Feedback and Sensing Capabilities
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
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In this paper we present an interactive dynamic simulator for virtual avatars. It allows creation and manipulation of objects in a collaborative way by virtual avatars or between virtual avatars and users. The users interact with the simulation environment using a haptic probe which provides force feedback. This dynamic simulator uses fast dynamics computation and constraint-based methods with friction. It is part of a general framework that is being devised for studies of collaborative scenarios with haptic feedback.