A six degree-of-freedom god-object method for haptic display of rigid bodies

Proceedings - IEEE Virtual Reality

Volumn 2006, Issue , 2006, Pages 191-198

  Ortega, Michael ^a   Redon, Stephane ^a   Coquillart, Sabine ^a  

^a INRIA RHÔNE ALPES   (France)

Author keywords

Constraint based quasi statics; God Object; Haptics; Rigid bodies; Six degrees of freedom

Indexed keywords

COMPUTATION THEORY; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); INTERACTIVE COMPUTER SYSTEMS; OBJECT RECOGNITION;

CONSTRAINT-BASED QUASI-STATICS; RIGID BODIES; SIX DEGREES OF FREEDOM;

HAPTIC INTERFACES;

EID: 33750125107     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/VR.2006.18     Document Type: Conference Paper

References (30)

1. R. Balaniuk. Using fast local modeling buffer haptic data. Proc. of Fourth PHANTOM Users Group Workshop, 1999.
2. D. Baraff. Analytical methods for dynamic simulation of non-penetrating rigid bodies. In Computer Graphics (Proc. SIGGRAPH), volume 23, pages 223-232, 1989.
3. F. Barbagli, K. Salisbury, and D. Prattichizzo. Dynamic local models for stable multi-contact haptic interaction with deformable objects. HAPTICS, 2003.
4. P. Berkelman, R. Hollis, and D. Baraff. Interaction with a realtime dynamic environment simulation using a magnetic levitation haptic interface device. In IEEE International Conference on Robotics and Automation, 1999.
5. E. J. Colgate, M. C. Stanley, and M. J. Brown. Issues in the haptic display of tool use. Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995.
6. D. Constantinescu, S. E. Saludean, and E. A. Croft. Haptic rendering of rigid body collisions. Proc. of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004.
7. K. F. Gauss. Uber ein neues allgemeines grundgesatz der mechanik. In Journal für die Reine und Angewandte Mathematik, 4, pp 232-235, 1829.
8. A. Gregory, A. Mascarenhas, S. Ehmann, M. Lin, and D. Manocha. Six degree-of-freedom haptic display of polygonal models. Proc. of IEEE Visualisation, 2000.
9. S. Hasegawa and M. Sato. Real-time rigid body simulation for haptic interactions based on contact volume of polygonal objects. EURO-GRAPHICS, 2004.
10. C. Ho, C. Basdogan, and M. A. Srinivasan. Efficient point-based rendering techniques for haptic display of virtual objects. In Presence 8(5), pages 477-491, 1999.
11. C. H. Ho, C. Basdogan, and M. A. Srinivasan. A ray-based haptic rendering technique for displaying shape and texture of 3d objects in virtual environments. ASME Winter Annual Meeting, 1997.
12. D. E. Johnson and P. Willemsen. Six degree-of-freedom haptic rendering of complex polygonal models. HAPTICS Proc., 2003.
13. L. Kim, A. Kyrikou, G. S. Sukhatme, and M. Desbrun. An implicitbased haptic rendering technique. Intelligent Robots and System, 2002.
14. S. Kim, S. Hasegawa, Y. Koike, and M. Sato. Tension based 7-dof force-feedback device: SPIDAR-G. IEEE Virtual Reality Conference Proc., March 2002.
15. Y. J. Kim, M. A. Otaduy, M. C. Lin, and D. Manocha. Six-degree-of-freedom haptic display using localized contact computations. Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002.
16. W. R. Mark, S. C. Randolph, M. Finch, J. M. Van Verth, and R. M. Taylor II. Adding force feedback to graphics systems: Issues and solutions. SIGGRAPH 96 Proc., August 1996.
17. T. M. Massie and J. K.Salisbury. The phantom haptic interface: A device for probing virtual objects. ASME Haptic Interfaces for Virtual Environment and Teleoperator Systems, November 1994.
18. W. A. McNeely, K. D. Puterbaugh, and J. J. Troy. Six degree-of-freedom haptic rendering using voxel sampling. Computer Graphics (SIGGRAPH Proc.), 1999.
19. M. A. Otaduy and M. C. Lin. Sensation preserving simplication for haptic rendering. ACM Transactions on Graphics, 2003.
20. M. A. Otaduy and M. C. Lin. Stable and responsive six-degree-of-freedom haptic manipulation using implicit integration. In Proc. of the World Haptics Conference, 2005.
21. S. Redon, A. Kheddar, and S. Coquillart. Fast continuous collision detection between rigid bodies. In Computer Graphics Forum 21 (3) (Eurographics 2002 Proc.), 2002.
22. S. Redon, A. Kheddar, and S. Coquillart. Gauss' least constraints principle and rigid body simulations. In Proc. of IEEE International Conference on Robotics and Automation, 2002.
23. D. C. Ruspini, K. Kolarov, and O. Khatib. The haptic display of complex graphical environments. Computer Graphics (Proc. SIGGRAPH 97), August 1997.
24. W. L. Sachtler, M. R. Pendexter, J. Biggs, and M. A. Srinivasan. Haptically perceived orientation of a planar surface is altered by tangential forces. Fifth Phantom User's Group Workshop, 2000.
25. K. Salisbury and C. Tarr. Haptic rendering of surfaces defined by implicit functions. Proc. ASME 6th Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 1997.
26. M. A. Srinivasan, G. L. Beauregard, and D. L. Brock. The impact of visual information on the haptic perception of stiffness in virtual environments. ASME Winter Annual Meeting, November 1996.
27. N. Tarrin, S. Coquillart, S. Hasegawa, L. Bouguila, and M. Sato. The stringed haptic workbench: a new haptic workbench solution. EU-ROGRAPHICS Proc., September 2003.
28. S. Wang and M. A. Srinivasan. The role of torque in haptic perception of object location in virtual environments. 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003.
29. D. R. Wilhelmsen. A nearest point algorithm for convex polyhedral cones and applications to positive linear approximations. In Mathematics of computation, 30, pp 48-57, 1976.
30. C. B. Zilles and J. K. Salisbury. A constraint-based god-object method for haptic display. International Conference on Intelligent Robots and Systems, Proc., August 1995.