Paper Info
Title
Haptic Rendering And Interactive Simulation Using Passive Midpoint Integration
Abstract
We propose a novel framework of haptic rendering and interactive simulation, which, by exploiting midpoint time integration, that is known for its superior energy-conserving property but has not yet been adopted for haptics and interactive simulation, can enforce discrete-time passivity of the simulation effectively in practice, while retaining real-time interactivity due to its being non-iterative. We derive this passive midpoint integration (PMI) simulation for mechanical systems both in maximal coordinates (i.e. in SE(3)) and in generalized coordinates (i.e. in R-n), with some potential actions as well to implement joint articulation, constraints, compliance, and so on. We also fully incorporate multi-point Coulomb frictional contact into them via the PMI-LCP (linear complementarity problem) formulation. The proposed PMI-based simulation framework is applied to some illustrative examples to demonstrate its advantages: (1) haptic rendering of a peg-in-hole task, where very light/stiff articulated objects can be simulated with multi-point contact; (2) haptic interaction with a flexible beam, where marginally stable/lossless behavior (i.e. vibration) can be stably emulated; and (3) under-actuated tendon-driven hand grasping, where mixed maximal-generalized coordinates are used with very light/stiff fingers.
Year
DOI
Venue
2017
10.1177/0278364917731821
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Keywords
Field
DocType
Haptic rendering, interactive simulation, linear complementarity problem, midpoint integration, passivity
Passivity,Interactivity,Midpoint,Interactive simulation,Control engineering,Linear complementarity problem,Generalized coordinates,Mathematics,Haptic technology,Mechanical system
Journal
Volume
Issue
ISSN
36
12
0278-3649
Citations 
PageRank 
References 
2
0.37
30
Authors
4
Name
Order
Citations
PageRank
Myungsin Kim1202.53
Yongjun Lee2393.49
Yong-seok Lee3848.86
Dongjun Lee485584.67