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Pereira, Aaron und Schmidt, Annika (2021) Efficient Haptic Rendering of Regolith. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, Seiten 13975-13981. IEEE. 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021-05-30 - 2021-06-05, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561007. ISBN 978-172819077-8. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9561007
Kurzfassung
Driven by the need for physically accurate and haptically convincing models of lunar and planetary regolith for model-mediated teleoperation in space, we present an approach to modelling regolith in an efficient yet realistic way. Model parameters are derived from physical characteristics of the regolith, to render regoliths with different density profiles, cohesion, internal friction and in different gravitational fields. Users could distinguish between changes in parameters–specifically friction and gravity field–and also gave qualitative feedback relevant to modelling regolith. We discuss the challenges in haptically rendering soils and the next steps.
| elib-URL des Eintrags: | https://elib.dlr.de/147191/ | ||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
| Titel: | Efficient Haptic Rendering of Regolith | ||||||||||||
| Autoren: |
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| Datum: | 2021 | ||||||||||||
| Erschienen in: | 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 | ||||||||||||
| Referierte Publikation: | Ja | ||||||||||||
| Open Access: | Ja | ||||||||||||
| Gold Open Access: | Nein | ||||||||||||
| In SCOPUS: | Ja | ||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||
| DOI: | 10.1109/ICRA48506.2021.9561007 | ||||||||||||
| Seitenbereich: | Seiten 13975-13981 | ||||||||||||
| Verlag: | IEEE | ||||||||||||
| ISSN: | 1050-4729 | ||||||||||||
| ISBN: | 978-172819077-8 | ||||||||||||
| Status: | veröffentlicht | ||||||||||||
| Stichwörter: | Solid modeling, Friction, Moon, Virtual reality, Soil, Rendering | ||||||||||||
| Veranstaltungstitel: | 2021 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||
| Veranstaltungsort: | Xi'an, China | ||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||
| Veranstaltungsbeginn: | 30 Mai 2021 | ||||||||||||
| Veranstaltungsende: | 5 Juni 2021 | ||||||||||||
| Veranstalter : | IEEE | ||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik, R - Planetare Exploration | ||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Autonomie und Fernprogrammierung | ||||||||||||
| Hinterlegt von: | Schmidt, Annika | ||||||||||||
| Hinterlegt am: | 10 Dez 2021 09:15 | ||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:45 |
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