Abstract
This paper presents a haptic rendering method that enables users to feel collisions while they interact with a multi-rigid-body virtual environment through a virtual tool. The virtual tool can be a rigid object or a linkage. Linkage collisions are rendered by extending a collision resolution method proposed for single bodies to articulated structures using a configuration-space representation of dynamics. The configuration-space collision resolution scheme is incorporated into a local model of interaction and used to compute impulsive forces upon contact between the virtual tool and other virtual objects. A four channel teleoperation controller optimized for transparency is used to apply the provably passive impulsive forces to the user’s hand. Experiments with a planar rigid virtual world validate the passivity of the impulsive forces.
Original language | English |
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Title of host publication | International Symposium on Robotics 2004 |
Pages | 1-7 |
Number of pages | 7 |
Publication status | Published - 2004 |
Externally published | Yes |
Event | International Symposium on Robotics 2004 - Paris-Nord Villepinte, France Duration: 23 Mar 2004 → 26 Mar 2004 Conference number: 35th |
Conference
Conference | International Symposium on Robotics 2004 |
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Abbreviated title | ISR 2004 |
Country/Territory | France |
City | Paris-Nord Villepinte |
Period | 23/03/04 → 26/03/04 |