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Efficient Haptic Rendering of Regolith

Pereira, Aaron and Schmidt, Annika (2021) Efficient Haptic Rendering of Regolith. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, pp. 13975-13981. IEEE. 2021 IEEE International Conference on Robotics and Automation (ICRA), 30 May-5 June 2021, Xi'an, China. doi: 10.1109/ICRA48506.2021.9561007. ISBN 978-172819077-8. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/abstract/document/9561007


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.

Item URL in elib:https://elib.dlr.de/147191/
Document Type:Conference or Workshop Item (Speech)
Title:Efficient Haptic Rendering of Regolith
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Pereira, AaronAaron.Pereira (at) dlr.deUNSPECIFIED
Schmidt, Annikaannika.schmidt (at) dlr.dehttps://orcid.org/0000-0002-4718-4201
Journal or Publication Title:2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/ICRA48506.2021.9561007
Page Range:pp. 13975-13981
Keywords:Solid modeling, Friction, Moon, Virtual reality, Soil, Rendering
Event Title:2021 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Xi'an, China
Event Type:international Conference
Event Dates:30 May-5 June 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics, R - Planetary Exploration
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Schmidt, Annika
Deposited On:10 Dec 2021 09:15
Last Modified:25 Mar 2022 10:40

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