ETRI Journal

Electronics and Telecommunications Research Institute (한국전자통신연구원)
권호 표지

Interactive Dynamic Simulation Schemes for Articulated Bodies through Haptic Interface

  • Received : 2002.03.12
  • Published : 2003.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes interactive dynamic simulation schemes for articulated bodies in virtual environments, where user interaction is allowed through a haptic interface. We incorporated these schemes into our dynamic simulator I-GMS, which was 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. User interaction is achieved by performing push and pull operations with the PHANToM haptic device, which runs as an integrated part of I-GMS. We use both forward and inverse dynamics of articulated bodies for the haptic interaction by the push and pull operations, respectively. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for 6-dof (degrees of freedom) articulated bodies.

Keywords

References

  1. Proc. Computer Animation00 An Interactive Generalized Motion Simulator (I-GMS) in an Object-Oriented Framework Son, W.;Kim, K.H.;Amato, N.M.
  2. Proc. IEEE-Int’l Conf. on Intelligent Robots and Systems A Constraint-Based God-Object Method for Haptic Display Zilles, C.;Salisbury, K.
  3. SIGGRAPH The Haptic Display of Complex Graphical Environments Ruspini, D.C.;Kolarov, K.;Khatib, Oussama
  4. Symp. on Interactive 3D Graphics Direct Haptic Rendering of Sculptured Models Thompson T.V. II.;Johnson, D.E.;Cohen, Elaine
  5. Proc. Symp. on Interactive 3D Graphics Real-Time Impulse-Based Simulation of Rigid Body Systems for Haptic Display Chang, B.;Colgate, J.E.
  6. Proc. the First PHANToM Users Group Workshop 96 Force Feedback in Interactive Dynamic Simulation Vedula, S.;Baraff, D.
  7. Proc. IEEE Int’l Conf. on Robotics and Automation Interaction with a Real-Time Dynamic Environment Simulation Using a Magnetic Levitation Haptic Interface Device Berkelman, P.J.;Hollis, R.L.;Baraff, D.
  8. Proc. Computer Animation 99 Virtual Reality Simulation Modeling for a Haptic Glove Popescu, V.;Burdea, G.;Bouzit, M.
  9. Journal of Autonomous Agents and Multi-Agent Systems v.2 no.1 Making Complex Articulated Agents Dance: An Analysis of Control Methods Drawn from Robotics, Animation, and Biology Mataric, M.J.
  10. Advances in Robot Kinematics: ARK 98 Dynamic Models for Haptic Rendering Systems Diego, Ruspini;Khatib, Oussama
  11. Proc. IEEE-Int’l Conf. on Robotics and Automation Using Haptic Vector Fields for Animation Motion Control Donald, B.R.;Henle, F.
  12. Proc. of the ASME Int’l Mechanical Engineering Congress and Exhibition v.DSC55-1 no.IL The PHANToM Haptic Interface: A Device for Probing Virtual Objects Massie, T.H.;Salisbury, J.K.
  13. Introduction to Robotics, Mechanics, and Control Craig, J.J.
  14. Journal of Dynamics Systems, Measurement, and Control v.107 no.3 Impedance Control Hogan, N.
  15. GHOST Software Developer’s Toolkit: Programmer’s Guide Version 2.1 SensAble Technologies Inc.