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First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'05)
Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration
Pisa, Italy
March 18-March 20
ISBN: 0-7695-2310-2
ASCII Text
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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
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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