The Community for Technology Leaders
World Haptics Conference (2007)
Tsukuba, Japan
Mar. 22, 2007 to Mar. 24, 2007
ISBN: 0-7695-2738-8
pp: 225-230
Miguel A. Otaduy , Computer Graphics Laboratory, ETH Zurich
Markus Gross , Computer Graphics Laboratory, ETH Zurich
ABSTRACT
Transparent haptic rendering of the contact between a tool and its environment requires very frequent update of the contact forces acting on the tool. Given a rigid tool and a deformable environment, we define contact constraints by solving a constrained dynamic simulation problem, typ- ically at a low update rate. A generalized contact Jaco- bian defines velocities at the constraints given the velocity of the rigid tool. We define an inverse of the contact Jaco- bian that is dynamically consistent with the constraints and, once we know other forces acting on the rigid tool, it allows a fast update of the accumulated contact forces, and thereby highly transparent rendering.
INDEX TERMS
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CITATION
Miguel A. Otaduy, Markus Gross, "Transparent Rendering of Tool Contact with Compliant Environments", World Haptics Conference, vol. 00, no. , pp. 225-230, 2007, doi:10.1109/WHC.2007.120
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