Inertial properties in robotic manipulation: an object-level framework
International Journal of Robotics Research
Impulse-based dynamic simulation
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
A Model-Based Controller for Interactive Delayed Haptic Feedback Virtual Environments
Journal of Intelligent and Robotic Systems
Haptic Feedback Using Local Models of Interaction
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Haptic Simulation of Manipulator Collisions Using Dynamic Proxies
Presence: Teleoperators and Virtual Environments
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This paper addresses the haptic rendering of rigid body collisions. A new method is proposed in which collision rendering is achieved in two steps. First, the haptic simulation uses a contact model whose stiffness is infinite during collisions and finite during sustained contact. This model is combined with a passive collision resolution scheme to compute collision impulses when new contacts arise. Second, the impulses are applied to the user's hand by a controller that coordinates forces and positions between the virtual environment and the haptic interface. Haptic rendering of rigid body collisions imparts forces that generate large hand accelerations when new contacts arise without requiring increased contact stiffness and damping. Experiments with a planar rigid virtual world validate the proposed approach.