Collision Detection for Moving Polyhedra
IEEE Transactions on Pattern Analysis and Machine Intelligence
The complexity of robot motion planning
The complexity of robot motion planning
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Geometric collisions for time-dependent parametric surfaces
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Inertial properties in robotic manipulation: an object-level framework
International Journal of Robotics Research
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Haptic virtual reality for blind computer users
Assets '98 Proceedings of the third international ACM conference on Assistive technologies
Kinetic collision detection between two simple polygons
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
Separation-sensitive collision detection for convex objects
Proceedings of the tenth annual ACM-SIAM symposium on Discrete algorithms
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
A New Compuatitional Model of Friction Applied to Haptic Rendering
The Sixth International Symposium on Experimental Robotics VI
Six Degree-of-Freedom Haptic Rendering of Complex Polygonal Models
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Realistic Haptic Rendering for Highly Deformable Virtual Objects
VR '01 Proceedings of the Virtual Reality 2001 Conference (VR'01)
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
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
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
Haptic rendering of rigid contacts using impulsive and penalty forces
IEEE Transactions on Robotics
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
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In this paper we propose a local model of rigid body interaction that provides users with convincing kinesthetic feedback while they manipulate a virtual tool within a rigid multibody virtual world. The virtual tool can be a rigid object or a linkage. The local model can interface a haptic device to any virtual environment simulation that provides the contact position, the contact normal direction, and the penetration depth of the virtual tool into the virtual world at the virtual tool contacts. The local model includes a proxy of the virtual tool that embeds an approximation of its geometry and of its dynamics, and that eliminates force discontinuities at model updates via proxy deformation. In addition, the model includes active and predicted virtual tool contacts. Predicted contacts are used to maintain force continuity and to better constrain users to tight virtual spaces. Experiments performed within a planar virtual world demonstrate that, compared to prior local models of rigid body interaction, the proposed model enables users to feel stiffer contacts and improves users' perception of free space in locally cluttered virtual environments.