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A Fast and Robust Six-DoF God Object Heuristic for Haptic Rendering of Complex Models with Friction

Sagardia, Mikel and Hulin, Thomas (2016) A Fast and Robust Six-DoF God Object Heuristic for Haptic Rendering of Complex Models with Friction. ACM Symposium on Virtual Reality Software and Technology (VRST), 02-04 Nov 2016, Garching, Munich. doi: 10.1145/2993369.2993374.

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Official URL: http://www.vrst2016.lrz.de/


Collision detection and force computation between complex geometries are essential technologies for virtual reality and robotic applications. Penalty-based haptic rendering algorithms provide a fast collision computation solution, but they cannot avoid the undesired interpenetration between virtual objects, and have difficulties with thin non-watertight geometries. God object methods or constraint-based haptic rendering approaches have shown to solve this problem, but are typically complex to implement and computationally expensive. This paper presents an easy-to-implement god object approach applied to six-DoF penalty-based haptic rendering algorithms. Contact regions are synthesized to penalty force and torque values and these are used to compute the position of the god object on the surface. Then, the pose of this surface proxy is used to render stiff and stable six-DoF contacts with friction. Independently of the complexity of the used geometries, our implementation runs in only around 5 us and the results show a maximal penetration error of the resolution used in the penalty-based haptic rendering algorithm.

Item URL in elib:https://elib.dlr.de/107438/
Document Type:Conference or Workshop Item (Keynote)
Title:A Fast and Robust Six-DoF God Object Heuristic for Haptic Rendering of Complex Models with Friction
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sagardia, MikelUNSPECIFIEDhttps://orcid.org/0000-0001-7603-1717UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Date:2 November 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 163-172
Keywords:haptic rendering, virtual assembly, haptic devices, interaction techniques
Event Title:ACM Symposium on Virtual Reality Software and Technology (VRST)
Event Location:Garching, Munich
Event Type:international Conference
Event Dates:02-04 Nov 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Sagardia, Mikel
Deposited On:30 Nov 2016 17:43
Last Modified:19 Jul 2023 13:02

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