View : 13 Download: 0

Six-degree-of-freedom haptic rendering using translational and generalized penetration depth computation

Title
Six-degree-of-freedom haptic rendering using translational and generalized penetration depth computation
Authors
Li Y.Tang M.Zhang S.Kim Y.J.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2013
Journal Title
2013 World Haptics Conference, WHC 2013
Indexed
SCOPUS scopus
Abstract
We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational (PDt) and generalized penetration depth (PDg). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for PDt and PDg are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics. © 2013 IEEE.
DOI
10.1109/WHC.2013.6548423
ISBN
9781479900886
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE