Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration

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	Similar Articles Articles by Miguel A. Otaduy Articles by Ming C. Lin

First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05)

Pisa, Italy

March 18-March 20

ISBN: 0-7695-2310-2

	ASCII Text	x
	Miguel A. Otaduy, Ming C. Lin, "Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration," World Haptics Conference, pp. 247-256, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05), 2005.

	BibTex	x
	@article{ 10.1109/WHC.2005.120, author = {Miguel A. Otaduy and Ming C. Lin}, title = {Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration}, journal ={World Haptics Conference}, volume = {0}, year = {2005}, isbn = {0-7695-2310-2}, pages = {247-256}, doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2005.120}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - World Haptics Conference TI - Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration SN - 0-7695-2310-2 SP247 EP256 A1 - Miguel A. Otaduy, A1 - Ming C. Lin, PY - 2005 KW - null VL - 0 JA - World Haptics Conference ER -

Miguel A. Otaduy, University of North Carolina at Chapel Hill

Ming C. Lin, University of North Carolina at Chapel Hill

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/WHC.2005.120

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.

Citation:

Miguel A. Otaduy, Ming C. Lin, "Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration," whc, pp.247-256, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05), 2005

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