Haptic rendering and interactive simulation using passive midpoint integration
نویسندگان
چکیده
منابع مشابه
Interactive dynamic simulation using haptic interaction
This paper describes an interactive dynamic simulator for virtual environments which allows user interaction via a haptic interface. The interactive simulation is performed in our testbed dynamic simulator I-GMS, which has been developed in an object-oriented framework for simulating motions of free bodies and complex linkages such as those needed for robotic systems or human body simulation. U...
متن کاملHuman-centered Robotics and Interactive Haptic Simulation Human-centered Robotics and Interactive Haptic Simulation
A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant. They are making their way into the everyday world that people inhabit. This paper focuses on models, strategies, and algorithms associated with the autonomous behaviors needed for robots to work, assist, and cooperate with humans. In addition to the new c...
متن کاملOn Passive Non-iterative Varying-step Numerical Integration of Mechanical Systems for Haptic Rendering
This paper consists of three parts. First, with a slightlydifferent, yet, more physically-plausible, discrete supply-rate (i.e. power), we propose a non-iterative (i.e. fast) and variablestep numerical integration algorithm for (scalar) discrete-passive mechanical systems, consisting of constant mass and damper, and a certain class of nonlinear spring. In the second part, we propose a fast pass...
متن کاملImplicit midpoint integration and adaptive damping for efficient cloth simulation
Implicit integration methods have contributed to large performance enhancements in the field of simulation of particle-system mechanical models. While Backward Euler and BDF-2 methods are now widely used for cloth simulation applications, the Implicit Midpoint method is often overlooked, because of its poor stability properties. It is however as simple to implement as Backward Euler, and offers...
متن کاملAliveness: perceived instability from a passive haptic texture rendering system
This paper reports new findings of our ongoing research on perceived instability that human users frequently experience from interacting with virtual textures rendered with a force-feedback haptic interface. Our work is aimed at a better understanding of a new type of perceived instability called “aliveness”, which was discovered during our previous psychophysical experiments performed using a ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2017
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364917731821