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Improvements of the Voxmap-PointShell Algorithm - Fast Generation of Haptic Data-Structures

Sagardia, Mikel and Hulin, Thomas and Preusche, Carsten and Hirzinger, Gerd (2008) Improvements of the Voxmap-PointShell Algorithm - Fast Generation of Haptic Data-Structures. 53rd Internationales Wissenschaftliches Kolloquium, 2008-09-08 - 2008-09-12, Illmenau.

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Abstract

The Voxmap-PointShell<sup>TM</sup> (VPS) Algorithm is a haptic rendering algorithm able to compute collision responses with 1 kHz update-rates with arbitrarily complex scenarios. This work introduces fast algorithms to generate the two haptic data-structures used by the VPS algorithm: voxmaps - voxelized volume structures for static objects - and pointshells - point-clouds describing moving objects - . For generating voxmaps, collision tests based on the Separating Axis Theorem are carried out. On the other hand, pointshells are generated utilizing optimization strategies to place points uniformly on the surface of the objects. The improvements in performance and quality obtained compared to the previous generating algorithms from DLR are included, all of them carried out on virtual car models provided by Volkswagen and artificial models.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Improvements of the Voxmap-PointShell Algorithm - Fast Generation of Haptic Data-Structures
Authors:
AuthorsInstitution or Email of Authors
Sagardia, MikelUNSPECIFIED
Hulin, ThomasUNSPECIFIED
Preusche, CarstenUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:haptic data-Structures
Event Title:53rd Internationales Wissenschaftliches Kolloquium
Event Location:Illmenau
Event Type:international Conference
Event Dates:2008-09-08 - 2008-09-12
Organizer:TU Illmenau
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:28 Oct 2008
Last Modified:12 Dec 2013 20:33

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