SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Motion Planning for Haptic Guidance
Journal of Intelligent and Robotic Systems
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Haptic display of rigid body contact using generalized penetration depth
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Stable adaptive algorithm for Six Degrees-of-Freedom haptic rendering in a dynamic environment
The Visual Computer: International Journal of Computer Graphics
Haptic manipulation of deformable objects in hybrid bilateral teleoperation system
Applied Bionics and Biomechanics
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This paper presents a modular algorithm for six-degree-of-freedom (6-DOF) haptic rendering. The algorithm is aimed to provide transparent manipulation of rigid models with a high polygon count. On the one hand, enabling a stable display is simplified by exploiting the concept of virtual coupling and employing passive implicit integration methods for the simulation of the virtual tool. On the other hand, transparency is enhanced by maximizing the update rate of the simulation of the virtual tool, and thereby the coupling impedance, and allowing for stable simulation with small mass values. The combination of a linearized contact model that frees the simulation from the computational bottleneck of collision detection, with penalty-based collision response well suited for fixed time-stepping, guarantees that the motion of the virtual tool is simulated at the same high rate as the synthesis of feedback force and torque. Moreover, sensation-preserving multiresolution collision detection ensures a fast update of the linearized contact model in complex contact scenarios, and a novel contact clustering technique alleviates possible instability problems induced by penalty-based collision response