Paper Info
Title
Towards real-time modeling and haptic rendering of deformable objects for point cloud-based Model-Mediated Teleoperation
Abstract
We propose a novel radial function-based deformation (RFBD) approach to enable real-time modeling and haptic rendering of deformable objects for point cloud-based Model-Mediated Teleoperation (pcbMMT). In the pcbMMT system, a time-of-flight camera is employed on the slave side to capture a 3D point cloud model of the remote environment. This environment model is transmitted to the master along with the estimated model parameters, including the dynamics of the object's surface deformation and the physical properties such as the stiffness, friction coefficient, etc. Due to the simplicity of the RFBD approach, the model parameters of the remote environment can be obtained in real time. On the master side, a local copy of the environment model is maintained according to the received parameters. Both the haptic rendering and deformation simulation are based on this local model, running at 1kHz. Thus, a good compromise is achieved between the model accuracy and the computational time for online parameter identification. Experiments verify the feasibility of the proposed approach, and show the results of the object deformation for different model parameters.
Year
DOI
Venue
2014
10.1109/ICMEW.2014.6890578
ICME Workshops
Keywords
Field
DocType
pcbmmt,model parameters,rfbd,deformable objects,point cloud model,haptic feedback,control engineering computing,point cloud-based model-mediated teleoperation,rendering (computer graphics),real-time modelling,haptic rendering,force feedback,haptic interfaces,model-mediated teleoperation,telerobotics,radial function-based deformation
Teleoperation,Computer vision,Simulation,Stiffness,Computer science,Haptic rendering,Radial function,Friction coefficient,Artificial intelligence,Real time modeling,Deformation (mechanics),Point cloud
Conference
ISSN
Citations 
PageRank 
1945-7871
3
0.51
References 
Authors
11
2
Name
Order
Citations
PageRank
Xiao Xu18210.00
Eckehard G. Steinbach22221299.71