Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization

Authors:
Thomas Knott;Yuen Law;Torsten Kuhlen
Affiliations:
Virtual Reality Group, RWTH Aachen University, Aachen, Germany;Virtual Reality Group, RWTH Aachen University, Aachen, Germany;Virtual Reality Group, RWTH Aachen University, Aachen, Germany
Venue:
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Year:
2012

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Abstract

In this paper we present a haptic rendering algorithm for simulating the interaction of two independently controlled rigid objects with each other and a rigid environment. Our penalty based approach is based on a linearization model of occurring forces, and employs, for the computation of object positions and orientations, an iterative trust-region-based-optimization method. At this, the combination of a per step passivity condition and an adaptively controlled maximal object displacement achieves a stable and transparent rendering in free space and in contact situations.