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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.
| Item URL in elib: | https://elib.dlr.de/55619/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||||
| Title: | Improvements of the Voxmap-PointShell Algorithm - Fast Generation of Haptic Data-Structures | ||||||||||||||||||||
| Authors: |
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| Date: | 2008 | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||
| 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 (until 2012) > System Dynamics and Control (former Control Design Engineering) | ||||||||||||||||||||
| Deposited By: | Klauer, Monika | ||||||||||||||||||||
| Deposited On: | 28 Oct 2008 | ||||||||||||||||||||
| Last Modified: | 12 Dec 2013 20:33 |
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