Haptic rendering of rigid contacts using impulsive and penalty forces Export

@article{CSC05, abstract = {A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach.}, author = {Constantinescu, D. and Salcudean, S. E. and Croft, E. A.}, citeulike-article-id = {973133}, citeulike-linkout-0 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1435476}, journal = {Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on]}, keywords = {engine, impulsive, method, minimum, parameterization}, number = {3}, pages = {309--323}, posted-at = {2007-09-20 17:30:59}, priority = {2}, title = {Haptic rendering of rigid contacts using impulsive and penalty forces}, url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1435476}, volume = {21}, year = {2005} }

TY - JOUR ID - CSC05 L3 - citeulike-article-id:973133 N2 - A new simulation approach is proposed to improve the stability and the perceived rigidity of contacts during haptic interaction with multirigid body virtual environments. The approach computes impulsive forces upon contact and penalty and friction forces during contact. The impulsive forces are derived using a new multiple collision resolution method that never increases the kinetic energy of the system. When new contacts arise, the impulsive forces generate large hand accelerations without requiring increased contact stiffness and damping. Virtual objects and linkages are regarded as points in the configuration space, and no distinction is made between them in the proposed approach. IS - 3 JF - Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on] EP - 323 TI - Haptic rendering of rigid contacts using impulsive and penalty forces VL - 21 SP - 309 KW - engine KW - impulsive KW - method KW - minimum KW - parameterization AU - Constantinescu, D AU - Salcudean, SE AU - Croft, EA PY - 2005/// UR - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1435476 ER -