Passivity-based high-fidelity haptic rendering of contact

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3722-3728

  Mahvash, Mohsen ^a   Hayward, Vincent ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DEFORMATION; ELASTICITY; HAPTIC INTERFACES; MATHEMATICAL MODELS;

HAPTIC RENDERING; MULTIRATE SETTING; PASSIVITY;

INTELLIGENT ROBOTS;

EID: 0345327670     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. Adams, R. J., and Hannaford, B. 1999. Stable Haptic Interaction With Virtual Environments. IEEE T. Robot. Automat. 15:465-474.
2. Anderson, R. J. and Spong, M. 1989. Bilateral Control of Teleoperators with Time Delay. IEEE T. on Aut. Control. 34(5):494-501.
3. Brown, J. M, and Colgate, J. E. 1997. Passive Implementation of Multi-body Simulations for Haptic Display. Proc. International Mechanical Engineering Congress and Exhibition, Vol. 61, pp.85-92.
4. Colgate, J. E., and Schenkel, G.G. 1997. Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces. J. of Robotic Systems. 14(1):37-47.
5. Hannaford, B., Ryu, J.-H. 2002. Stable Haptic Interaction with Virtual Environments. IEEE T. Robot. and Automat., 18(1).
6. Hayward, V., Armstrong, B., 2000. A New Computational Model of Friction Applied to Haptic Rendering. In Experimental Robotics VI, P. I. Corke and J. Trevelyan (Eds.), Lecture Notes in Control and Information Sciences, Vol. 250, Springer-Verlag, pp. 403-412.
7. James, D. L., Pai, D. K. 2001. A Unified Treatment of Elastostatic and Rigid Contact Simulation for Real Time Haptics. Haptics-e, 2(1).
8. Lozano, R., Brogliato, B., Egeland, O., Mashke, B. 2000. Dissipative Systems, Analysis and Control, Theory and Applications. Springer Verlag; New York.
9. Mahvash, M., Hayward, V., Lloyd, J. E. 2002. Haptic Rendering of Tool Contact. Proc. Eurohaptics 2002. pp. 110-115.
10. Mahvash, M., Hayward, V. 2001. Haptic Rendering of Cutting, A Fracture Mechanics Approach. Haptics-e. 2(3).
11. Miller, B., Colgate, J. E., Freeman, R. A. 1999. Guaranteed Stability of Haptic Systems with Nonlinear Virtual Environments. IEEE T. on Robot. Automat.
12. Niemeyer, G., Slotine, J. J. 1991. Stable Adaptive Teleoperation. IEEE J. Ocean. Eng., 16:152-162.
13. Salisbury, K., Brock, D., Massie, T., Swarup, N., Zilles, C. 1995. Haptic Rendering: Programming Touch Interaction with Virtual Objects. Proc. Symposium on Interactive 3D Graphics, ACM. pp. 123-130.
14. Y. Yokokohji, Y. Imaida, T. Yoshikawa, T. 2000. Bilateral Control with Energy Balance Monitoring Under Time-varying Communication Delay, Proc. IEEE Int. Conf. Robot. Automat. pp. 2684-2689.
15. Zilles, C. B., Salisbury, J. K. 1995. A Constraint-based God Object Method for Haptic Display. Proc. IEEE Int. Conf. Intel. Rob. and Syst., Vol. 3, pp. 146-151.