TY - JOUR
T1 - Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization
AU - Knott, Thomas
AU - Law, Yuen
AU - Kuhlen, Torsten
PY - 2012
Y1 - 2012
N2 - In this paper we present a haptic rendering algorithm for simulating the interaction of two independently controlled rigid objects with each other and a rigid environment. Our penalty based approach is based on a linearization model of occurring forces, and employs, for the computation of object positions and orientations, an iterative trust-region-based-optimization method. At this, the combination of a per step passivity condition and an adaptively controlled maximal object displacement achieves a stable and transparent rendering in free space and in contact situations.
AB - In this paper we present a haptic rendering algorithm for simulating the interaction of two independently controlled rigid objects with each other and a rigid environment. Our penalty based approach is based on a linearization model of occurring forces, and employs, for the computation of object positions and orientations, an iterative trust-region-based-optimization method. At this, the combination of a per step passivity condition and an adaptively controlled maximal object displacement achieves a stable and transparent rendering in free space and in contact situations.
KW - bimanual
KW - numerical integration
KW - passivity
KW - six degree-of-freedom haptic rendering
KW - stability
KW - virtual coupling
UR - http://www.scopus.com/inward/record.url?scp=84883804125&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-31401-8_25
DO - 10.1007/978-3-642-31401-8_25
M3 - Artículo de la conferencia
AN - SCOPUS:84883804125
SN - 0302-9743
VL - 7282 LNCS
SP - 270
EP - 281
JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
IS - PART 1
T2 - International Conference on Haptics: Perception, Devices, Mobility, and Communication, EuroHaptics 2012
Y2 - 13 June 2012 through 15 June 2012
ER -