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Six-degree-of-freedom haptic rendering using incremental and localized computations (2003)
| Venue: | PRESENCE |
| Citations: | 17 - 7 self |
BibTeX
@ARTICLE{Kim03six-degree-of-freedomhaptic,
author = {Young J. Kim and Miguel A. Otaduy and Ming C. Lin and Dinesh Manocha},
title = {Six-degree-of-freedom haptic rendering using incremental and localized computations},
journal = {PRESENCE},
year = {2003},
volume = {12},
pages = {277--295}
}
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Abstract
We present a novel six-degree-of-freedom haptic rendering algorithm using incremental and localized contact computations. It uses an incremental approach for contact and force compu-tations and takes advantage of spatial and temporal coherence between successive frames. As part of a preprocess, we decompose the surface of each polyhedron into convex pieces and con-struct bounding volume hierarchies to perform fast proximity queries. Once the objects have intersected, we compute the penetration depth (PD) in the neighborhood of the contact be-tween each pair of decomposed convex pieces using a new incremental algorithm. Moreover, we cluster different contacts based on their spatial proximity to speed up the force computation. We have implemented this algorithm and applied it to complex contact scenarios consisting of multiple contacts. We demonstrate its effectiveness on electronic prototyping of complex mechanical structures and virtual exploration of a digestive system.
Keyphrases
six-degree-of-freedom haptic rendering localized computation multiple contact new incremental algorithm decomposed convex piece complex contact scenario different contact localized contact computation force compu-tations digestive system convex piece virtual exploration electronic prototyping con-struct bounding volume hierarchy force computation fast proximity query successive frame incremental approach penetration depth temporal coherence spatial proximity novel six-degree-of-freedom haptic rendering algorithm complex mechanical structure
