Stable and responsive six-degree-of-freedom haptic manipulation using implicit integration Export

@inproceedings{Otaduy2005, abstract = {In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linearization of contact and manipulation forces, and it provides higher stability and responsiveness than previous methods. The linearization of contact forces, coupled with fast, perceptually based collision detection algorithms, enables us to perform highly stable and responsive 6-degree-of-freedom haptic rendering of complex polygonal models.}, author = {Otaduy, M. A. and Lin, M. C.}, booktitle = {World Haptics 2005. First Joint Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005.}, citeulike-article-id = {1679527}, keywords = {algorithms, avoidance, bibtex-import, collision, computational, computer, contact, detection, forces, geometry, graphics, haptic, interfaces, linearization, manipulation, manipulators, models, polygonal, rendering}, pages = {247--256}, pdf = {U:\09 Literatur verarbeitet\Otaduy2005 - Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration.pdf}, posted-at = {2007-09-20 17:17:29}, priority = {0}, title = {Stable and responsive six-degree-of-freedom haptic manipulation using implicit integration}, year = {2005} }

TY - CONF ID - Otaduy2005 L3 - citeulike-article-id:1679527 N2 - In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linearization of contact and manipulation forces, and it provides higher stability and responsiveness than previous methods. The linearization of contact forces, coupled with fast, perceptually based collision detection algorithms, enables us to perform highly stable and responsive 6-degree-of-freedom haptic rendering of complex polygonal models. EP - 256 TI - Stable and responsive six-degree-of-freedom haptic manipulation using implicit integration T2 - World Haptics 2005. First Joint Eurohaptics Conference, 2005 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005. SP - 247 KW - algorithms KW - avoidance KW - bibtex-import KW - collision KW - computational KW - computer KW - contact KW - detection KW - forces KW - geometry KW - graphics KW - haptic KW - interfaces KW - linearization KW - manipulation KW - manipulators KW - models KW - polygonal KW - rendering AU - Otaduy, MA AU - Lin, MC PY - 2005/// ER -