Implementation of an ADI method on parallel computers
Journal of Scientific Computing
Dynamic simulation of autonomous legged locomotion
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Linear programming and convex hulls made easy
SCG '90 Proceedings of the sixth annual symposium on Computational geometry
The R*-tree: an efficient and robust access method for points and rectangles
SIGMOD '90 Proceedings of the 1990 ACM SIGMOD international conference on Management of data
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Direct haptic rendering of sculptured models
Proceedings of the 1997 symposium on Interactive 3D graphics
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Strategies for polyhedral surface decomposition: an experimental study
Computational Geometry: Theory and Applications
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
H-Walk: hierarchical distance computation for moving convex bodies
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Fast and simple 2D geometric proximity queries using graphics hardware
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Penetration depth of two convex polytopes in 3D
Nordic Journal of Computing
A New Compuatitional Model of Friction Applied to Haptic Rendering
The Sixth International Symposium on Experimental Robotics VI
A Framework for Fast and Accurate Collision Detection for Haptic Interaction
VR '99 Proceedings of the IEEE Virtual Reality
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Issues in the haptic display of tool use
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
A perceptually-inspired force model for haptic texture rendering
APGV '04 Proceedings of the 1st Symposium on Applied perception in graphics and visualization
Haptic Display of Interaction between Textured Models
VIS '04 Proceedings of the conference on Visualization '04
Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds
International Journal of Robotics Research
Generalized penetration depth computation
Proceedings of the 2006 ACM symposium on Solid and physical modeling
Interactive haptic deformation of dynamic soft objects
Proceedings of the 2006 ACM international conference on Virtual reality continuum and its applications
Body-based haptic interaction model for touch-enabled virtual environments
Presence: Teleoperators and Virtual Environments
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Haptic display of interaction between textured models
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Generalized penetration depth computation
Computer-Aided Design
Presence: Teleoperators and Virtual Environments
Haptic rendering of complex objects via directional sampling
VRCAI '08 Proceedings of The 7th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Accurate and efficient cpu/gpu-based 3-dof haptic rendering of complex static virtual environments
Presence: Teleoperators and Virtual Environments
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Haptic rendering with predictive representation of local geometry
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
ACM Transactions on Graphics (TOG)
Haptic puppetry for interactive games
Edutainment'06 Proceedings of the First international conference on Technologies for E-Learning and Digital Entertainment
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
ACM Transactions on Graphics (TOG)
Stable adaptive algorithm for Six Degrees-of-Freedom haptic rendering in a dynamic environment
The Visual Computer: International Journal of Computer Graphics
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We present a novel six-degree-of-freedom haptic rendering algorithm using incremental and localized contact computations. It uses an incremental approach for contact and force computations and takes advantage of spatial and temporal coherence between successive frames. As part of a preprocess, we decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies to perform fast proximity queries. Once the objects have intersected, we compute the penetration depth (PD) in the neighborhood of the contact between each pair of decomposed convex pieces using a new incremental algorithm. Moreover, we cluster different contacts based on their spatial proximity to speed up the force computation. We have implemented this algorithm and applied it to complex contact scenarios consisting of multiple contacts. We demonstrate its effectiveness on electronic prototyping of complex mechanical structures and virtual exploration of a digestive system.