Configuration-based optimization for six degree-of-freedom haptic rendering using sphere-trees

This paper presents a novel constraint-based six degree-of-freedom (6-DoF) haptic rendering algorithm for simulating both contact forces and torques between interacting rigid bodies. We represent an object using a hierarchy of spheres, i.e., a sphere-tree. Such a representation allows fast detection...

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Bibliographic Details
Published in:2011 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2602 - 2607
Main Authors: Xin Zhang, Dangxiao Wang, Yuru Zhang, Jing Xiao
Format: Conference Proceeding
Language:English
Published: IEEE 01.09.2011
Subjects:
Dentistry
Force
Haptic interfaces
Optimization
Rendering (computer graphics)
Teeth
ISBN:1612844545, 9781612844541
ISSN:2153-0858
Online Access:Get full text
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Summary:This paper presents a novel constraint-based six degree-of-freedom (6-DoF) haptic rendering algorithm for simulating both contact forces and torques between interacting rigid bodies. We represent an object using a hierarchy of spheres, i.e., a sphere-tree. Such a representation allows fast detection of multiple contacts/collisions among objects and facilitates contact constraint formulation. Given a moving graphic tool as the avatar of the haptic tool in the virtual environment, we constrain its position and orientation, i.e., its six dimensional configuration, by solving a constrained optimization problem. The constraints in the 6-D configuration space (C-space) of the graphic tool is obtained and updated through on-line mapping of the non-penetration constraint between the spheres of the graphic tool and those of the other objects in the three dimensional physical space, based on the result of collision detection. The problem is further modeled as a quadratic programming problem and solved by classic active-set methods. Our algorithm has been implemented and interfaced with a 6-DoF Phantom Premium 3.0. We demonstrate its performance in dental surgery simulations involving complex, multi-contact virtual environments. Our method enables stable operations and realistic feel of haptic sensation.
ISBN:1612844545
9781612844541
ISSN:2153-0858
DOI:10.1109/IROS.2011.6094713