Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The complexity of robot motion planning
The complexity of robot motion planning
Haptic rendering: programming touch interaction with virtual objects
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Spatialized normal come hierarchies
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
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)
Optimization-Based Virtual Surface Contact Manipulation at Force Control Rates
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Accelerated haptic rendering of polygonal models through local descent
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
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Virtual prototyping attempts to replace physical models with virtual models for the purpose of design evaluation. One task a virtual prototyping environment can address is the accessibility of the components of a mechanical system. In this paper, we demonstrate a haptics-based virtual prototyping system for finding collision-free paths for moving models in complex polygonal environments. The system can handle models and environments with hundreds of thousands of triangles, and augments innate human talents at searching for collision-free paths.