Lee, P., Ruspini, D., Khatib, O., (1994), Dynamic Simulation of Interactive Robotic Environment, Proceedings of IEEE International Conference on Robotics and Automation, vol. 1, pp. 1147-1152.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....Consequently, powerful dynamic simulation tools allowing the simulation of the motion, deformation and interactions between objects are required for programming such robotics tasks. Constructing dynamic simulation systems was the goal of many works in computer graphics[12, 15, 5] and robotics[17, 11, 7, 9]. In opposite to the case of computer graphics, robotics applications need exact and efficient models. This is why rigid object dynamics was largely used in this domain[11, 17] because of its correctness. The problem arises when simulating the behavior of deformable objects. The finite elements ....

....Constructing dynamic simulation systems was the goal of many works in computer graphics[12, 15, 5] and robotics[17, 11, 7, 9] In opposite to the case of computer graphics, robotics applications need exact and efficient models. This is why rigid object dynamics was largely used in this domain[11, 17] because of its correctness. The problem arises when simulating the behavior of deformable objects. The finite elements method[3] although correct, is not efficient because of its complexity (O(n 2 ) The masses springs system [1, 12, 5] is faster than the finite elements method, but it needs ....

Paul U. Lee, Diego C. Ruspini, and Oussama Khatib. Dynamic simulation of interactive robotic environment. In IEEE/International Confernece on Robotics and Automation "ICRA", San Diego, USA, May 1994.

.... in virtual reality, haptic interfaces, where the controller is replaced by a human operator interfaced to the dynamic model via a haptic transducer [4, 5] Applications in this area include force feedback robotic teleoperation, video games, remote surgery, and interactive solid modeling sculpting [6, 7, 8]. Dynamic modeling of deformability has been much studied in the fields of computational solid mechanics [9] and computer graphics [10, 11] In the former, one is typically interested in steady state stress and strain distributions of a deformable body under external loads, where in the latter, ....

P. Lee, D. Ruspini, and O. Khatib. Dynamic simulation of interactive robotic environment. In IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994.

....contraintes principales d un simulateur dynamique que l on veut utiliser dans le domaine de la robotique. Pour satisfaire le mieux ces contraintes, certains simulateurs dynamiques exigent certaines restrictions (objets rigides mouvement balistique, acc el erations limit ees, et forces continues [80, 68]) qui sont justifiables dans certains cas mais pas dans le cas g en eral. Bien que la plupart des robots soient rigides, on en trouve quand meme avec des parties d eformables (comme la main de Salisbury [76] De plus, les objets manipul es par les robots ne sont pas forc ement rigides. Les ....

....fait, l efficacit e est une contrainte essentielle pour la plupart des applications robotiques. L importance et la n ecessit e de tels simulateurs pour etudier des interactions complexes entre le robot et son environnement, a pouss e certains roboticiens a aborder ce probl eme. Paul U. Lee et al.[68] ont construit un syst eme de simulation dynamique pour tester les diff erents controleurs et environnement de travail. Ils ont simul e le comportement d une grande charge lorsque celle ci est d eplac ee, afin de valider la faisabilit e de certaines strat egies. Ils ont egalement simul e un ....

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Paul U. Lee, Diego C. Ruspini, and Oussama Khatib. Dynamic simulation of interactive robotic environment. In IEEE/International Confernece on Robotics and Automation "ICRA", San Diego, USA, May 1994.

....the virtual tool. This framework has been used as the basis for the development of a dynamic haptic simulation system. Fig. 3 illustrates some of the environments that have been modeled with this system. Other environments including construction and underwater environments have also been modeled [13]. The simulations were tested on a Pentium 200MHz running Linux. Fig. 3(left) is one frame from an animation consisting of two puma560 manipulators (6 d.o.f. each) on which a rain of 60 large blocks is allowed to fall. A total of 366 d.o.f. are modeled. The simulation of 30 seconds took ....

Lee, P., Ruspini, D., Khatib, O., (1994), Dynamic Simulation of Interactive Robotic Environment, Proceedings of IEEE International Conference on Robotics and Automation, vol. 1, pp. 1147-1152.

....in the direction of the acceleration can be introduced to identify the point of rotation on the contact boundary. 8 Experimental Results The constraint equations developed above have been used to develop a dynamic modeling system to simulate interactive robotic environments. Using this simulator [17], a wide range of robotic environments can be represented and simulated. Figure 1 shows as example of a simulated interactive environment, an operational space controller is used to control a robot to topple a set of dominos. In Figure 4 a simple construction environment is depicted. In this ....

P.U. Lee, D.C. Ruspini and O. Khatib, "Dynamic Simulation of Interactive Robotic Environment," International Conference on Robotics and Automation, San Diego, CA,(May 1994), pp. 1147-1152.

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