Six-Degree-of-Freedom Haptic Display Using Localized Contact Computations
Young J. Kim youngkim@cs.unc.edu
Miguel A. Otaduy otaduy@cs.unc.edu
Ming C. Lin lin@cs.unc.edu
Dinesh Manocha dm@cs.umd.edu

Abstract: We present a six-degree-of-freedom haptic rendering algorithm using localized contact computations. It takes advantage of high motion coherence due to fast force update and spatial locality near the contact regions. We first decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies for fast proximity queries. Once the objects are intersecting, the penetration depth (PD) is estimated in the contact neighborhood between each pair of decomposed convex pieces, using a new incremental method based on local optimization. Given the computed PD values, multiple contacts near a local region are clustered together to further speed up contact force determination. We have implemented these algorithms and applied them to complex contact scenarios consisting of multiple contacts.
PUBLICATION
Six-Degree-of Freedom Haptic Display Using Localized Contact Computations

Young J. Kim,  Miguel A. Otaduy, Ming C. Lin and Dinesh Manocha
In the Tenth Symposium on Haptic Interfaces For Virtual Environment and Teleoperator Systems, March 24-25, 2002.

Acrobat (153 Kb)

Six-Degree-of Freedom Haptic Display Using Incremental and Localized Computations

Young J. Kim,  Miguel A. Otaduy, Ming C. Lin and Dinesh Manocha
Presence-Teleoperators and Virtual Environments (to appear), 2002.

Acrobat (1.49 Mb)

VIDEO

Mpeg (25.1 Mb)

RELATED LINKS

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6-DOF Haptic Rendering


youngkim@cs.unc.edu

last updated: 11/03/2002