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

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.

[1]  Elaine Cohen,et al.  Haptic rendering of surface-to-surface sculpted model interaction , 1999, SIGGRAPH Courses.

[2]  Ming C. Lin,et al.  6-dof haptic rendering using contact levels of detail and haptic textures , 2004 .

[3]  Dinesh Manocha,et al.  Six degree-of-freedom haptic display of polygonal models , 2000, Proceedings Visualization 2000. VIS 2000 (Cat. No.00CH37145).

[4]  Ming Wan,et al.  Quasi-Static Approximation for 6 Degrees-of-Freedom Haptic Rendering , 2003, IEEE Visualization.

[5]  Dinesh Manocha,et al.  Six-Degree-of-Freedom Haptic Rendering Using Incremental and Localized Computations , 2003, Presence: Teleoperators & Virtual Environments.

[6]  Shirley Dex,et al.  JR 旅客販売総合システム（マルス）における運用及び管理について , 1991 .

[7]  J. Edward Colgate,et al.  Issues in the haptic display of tool use , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[8]  Andrew P. Witkin,et al.  Large steps in cloth simulation , 1998, SIGGRAPH.

[9]  Peter Willemsen,et al.  Accelerated haptic rendering of polygonal models through local descent , 2004, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings..

[10]  J. Edward Colgate,et al.  Passivity of a class of sampled-data systems: Application to haptic interfaces , 1997, J. Field Robotics.

[11]  Frederick P. Brooks,et al.  Project GROPE-HapticDisplays for Scientific Visualization , 1990 .

[12]  Vincent Hayward,et al.  A New Compuatitional Model of Friction Applied to Haptic Rendering , 1999, ISER.

[13]  Ralph L. Hollis,et al.  Tool-based haptic interaction with dynamic physical simulations using lorentz magnetic levitation , 1999 .

[14]  Elizabeth A. Croft,et al.  Impulsive forces for haptic rendering of rigid contacts , 2004 .

[15]  Ming Wan,et al.  Quasi-static approach approximation for 6 degrees-of-freedom haptic rendering , 2003, IEEE Visualization, 2003. VIS 2003..

[16]  Randy A. Freeman,et al.  Guaranteed stability of haptic systems with nonlinear virtual environments , 2000, IEEE Trans. Robotics Autom..

[17]  Vincent Hayward,et al.  FREEDOM-7: A High Fidelity Seven Axis Haptic Device with Application to Surgical Training , 1997, ISER.

[18]  Oussama Khatib,et al.  A framework for multi-contact multi-body dynamic simulation and haptic display , 2000 .

[19]  Ming C. Lin,et al.  Haptic display of interaction between textured models , 2004, IEEE Visualization 2004.

[20]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[21]  Ming C. Lin,et al.  Sensation preserving simplification for haptic rendering , 2003, ACM Trans. Graph..

[22]  Blake Hannaford,et al.  Stable Control of Haptics , 2001 .

[23]  Yoshitaka Adachi,et al.  Intermediate representation for stiff virtual objects , 1995, Proceedings Virtual Reality Annual International Symposium '95.

[24]  J. Edward Colgate,et al.  REAL-TIME IMPULSE-BASED SIMULATION OF RIGID BODY SYSTEMS FOR HAPTIC DISPLAY , 1997 .

[25]  S. E. Salcudean,et al.  On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input/Output Devic , 1997 .

[26]  Blake Hannaford,et al.  A two-port framework for the design of unconditionally stable haptic interfaces , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).