The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Six-degree-of-freedom Haptic Rendering using Translational and Generalized Penetration Depth Computation

선형 및 일반형 침투깊이를 이용한 6자유도 햅틱 렌더링 알고리즘

  • Li, Yi (Computer Science and Engineering, Ewha Womans University and Computer Science and Technology, Zhejiang University) ;
  • Lee, Youngeun (Computer Science and Engineering, Ewha Womans University) ;
  • Kim, Young J. (Computer Science and Engineering, Ewha Womans University)
  • Received : 2013.06.02
  • Accepted : 2013.07.25
  • Published : 2013.08.31
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Abstract

We present six-degree-of-freedom (6DoF) haptic rendering algorithms using translational ($PD_t$) and generalized penetration depth ($PD_g$). Our rendering algorithm can handle any type of object/object haptic interaction using penalty-based response and makes no assumption about the underlying geometry and topology. Moreover, our rendering algorithm can effectively deal with multiple contacts. Our penetration depth algorithms for $PD_t$ and $PD_g$ are based on a contact-space projection technique combined with iterative, local optimization on the contact-space. We circumvent the local minima problem, imposed by the local optimization, using motion coherence present in the haptic simulation. Our experimental results show that our methods can produce high-fidelity force feedback for general polygonal models consisting of tens of thousands of triangles at near-haptic rates, and are successfully integrated into an off-the-shelf 6DoF haptic device. We also discuss the benefits of using different formulations of penetration depth in the context of 6DoF haptics.

Keywords

References

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