Asynchronous haptic simulation of contacting ...
Type de document :
Communication dans un congrès avec actes
Titre :
Asynchronous haptic simulation of contacting deformable objects with variable stiffness
Auteur(s) :
Peterlik, Igor [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Duriez, Christian [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Cotin, Stéphane [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Duriez, Christian [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Cotin, Stéphane [Auteur]
Simulation in Healthcare using Computer Research Advances [SHACRA]
Titre de la manifestation scientifique :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Ville :
san francisco
Pays :
Etats-Unis d'Amérique
Date de début de la manifestation scientifique :
2011
Date de publication :
2011
Discipline(s) HAL :
Informatique [cs]/Synthèse d'image et réalité virtuelle [cs.GR]
Résumé en anglais : [en]
Abstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the ...
Lire la suite >Abstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object.Lire moins >
Lire la suite >Abstract--This paper presents a new asynchronous approach for haptic rendering of deformable objects. When stiff nonlinear deformations take place, they introduce important and rapid variations of the force sent to the user. This problem is similar to the stiff virtual wall for which a high refresh rate is required to obtain a stable haptic feedback. However, when dealing with several interacting deformable objects, it is usually impossible to simulate all objects at high rates. To address this problem we propose a quasi-static framework that allows for stable interactions of asynchronously computed deformable objects. In the proposed approach, a deformable object can be computed at high refresh rates, while the remaining deformable virtual objects remain computed at low refresh rates. Moreover, contacts and other constraints between the different objects of the virtual environment are accurately solved using a shared Linear Complementarity Problem (LCP). Finally, we demonstrate our method on two test cases: a snap-in example involving non-linear deformations and a virtual thread interacting with a deformable object.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
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