The kinematics of contact and grasp
International Journal of Robotics Research
Computer Aided Geometric Design
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
An interactive tool for placing curved surfaces without interpenetration
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Umbilics and lines of curvature for shape interrogation
Computer Aided Geometric Design
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
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
H-COLLIDE: A Framework for Fast and Accurate Collision Detection for Haptic Interaction
H-COLLIDE: A Framework for Fast and Accurate Collision Detection for Haptic Interaction
Tactile sensing and the kinematics of contact (robotics, manipulation, hands)
Tactile sensing and the kinematics of contact (robotics, manipulation, hands)
Robotic control and nonholonomic motion planning
Robotic control and nonholonomic motion planning
Minimum distance between two sphere-swept surfaces
Computer-Aided Design
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Accelerating geometric queries using the GPU
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
Neural network based force modeling for haptic virtual machining simulation
VECIMS'09 Proceedings of the 2009 IEEE international conference on Virtual Environments, Human-Computer Interfaces and Measurement Systems
Critical point analysis using domain lifting for fast geometry queries
Computer-Aided Design
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
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Previous work in haptics surface tracing for virtual prototyping and surface design applications has used a point model for virtual finger-surface interaction. We extend this tracing method for surface-to-surface interactions. A straightforward extension of the point-surface formulation to surface-surface can yield extraneous, undesirable solutions, although we rework the formulation to yield more satisfactory solutions. Additionally, we derive an alternative novel velocity formulation for use in a surface-surface tracing paradigm that exhibits additional stability beyond the Newton methods. Both methods require evaluating the surface point and first and second surface partial derivatives for both surfaces, an efficient kilohertz rate computation. These methods are integrated into a three step tracking process that uses a global minimum distance method, the local Newton formulation, and the new velocity formulation.