Accurate Contact Modeling for Multi-rate Single-point Haptic Rendering of Static and Deformable Environments

Simple item page
dc.contributor.authorKnott, Thomas C.en_US
dc.contributor.authorKuhlen, Torsten W.en_US
dc.contributor.editorFabrice Jaillet and Florence Zara and Gabriel Zachmannen_US
dc.date.accessioned2015-11-04T08:42:04Z
dc.date.available2015-11-04T08:42:04Z
dc.date.issued2015en_US
dc.description.abstractCommon approaches for the haptic rendering of complex scenarios employ multi-rate simulation schemes. Here, the collision queries or the simulation of a complex deformable object are often performed asynchronously on a lower frequency, while some kind of intermediate contact representation is used to simulate interactions on the haptic rate. However, this can produce artifacts in the haptic rendering when the contact situation quickly changes and the intermediate representation is not able to reflect the changes due to the lower update rate. We address this problem utilizing a novel contact model. It facilitates the creation of contact representations that are accurate for a large range of motions and multiple simulation time-steps.We handle problematic convex contact regions using a local convex decomposition and special constraints for convex areas.We combine our accurate contact model with an implicit temporal integration scheme to create an intermediate mechanical contact representation, which reflects the dynamic behavior of the simulated objects. Moreover, we propose a new iterative solving scheme for the involved constrained dynamics problems.We increase the robustness of our method using techniques from trust region-based optimization. Our approach can be combined with standard methods for the modeling of deformable objects or constraint-based approaches for the modeling of, for instance, friction or joints. We demonstrate its benefits with respect to the simulation accuracy and the quality of the rendered haptic forces in multiple scenarios.en_US
dc.description.sectionheadersInteraction & Controlen_US
dc.description.seriesinformationWorkshop on Virtual Reality Interaction and Physical Simulationen_US
dc.identifier.doi10.2312/vriphys.20151336en_US
dc.identifier.isbn978-3-905674-98-9en_US
dc.identifier.pages71-80en_US
dc.identifier.urihttps://doi.org/10.2312/vriphys.20151336en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectH.5.2 [Information Interfaces and Presentation]en_US
dc.subjectUser Interfacesen_US
dc.subjectHaptic I/Oen_US
dc.subjectBenchmarkingen_US
dc.titleAccurate Contact Modeling for Multi-rate Single-point Haptic Rendering of Static and Deformable Environmentsen_US
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
071-080.pdf
Size:
3.12 MB
Format:
Adobe Portable Document Format
Download
Collections
vriphys15