Advanced Computer Haptics Project 4

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Advanced Computer HapticsProject 4

• Gabjong Han
• VR Lab, POSTECH
• 2006. 6. 19.

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Contents

• God-object Method
• Event-based Force Rendering
• Friction Force Rendering
• Performance Test
• Demo
• Conclusion

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God-object Method

• Use RAPID to check collision
• Get sub goal with line segment check
• Set active planes
• Get God-object point
• Render force
• Solve hole problem

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Event-based Force Rendering

• Based on the paper, we can add additional force
  when contact occurred
• 2 approaches

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Friction Force Rendering

• Use God-object point as X
• Use previous values to calculate current position
• Stick-creep-slip-slide model

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Performance Test
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Performance Test
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Performance Test
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Demo
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Conclusion

• RAPID is fast and accurate library
• RAPID cannot support object vs. line or object
  vs. point
• RAPID cannot provide proximity, but it can give
  collision triangle pair

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Reference

• K. J. Kuchenbecker, J. Fiene, and G. Niemeyer,
  "Improving Contact Realism through Event-Based
  Haptic Feedback," IEEE Transactions on
  Visualization and Computer Graphics, vol. 12, pp.
  219-230, 2006.
• V. Hayward and B. Armstrong, "A New Computational
  Model of Friction Applied To Haptic Rendering,"
  in Experimental Robotics VI, Lecture Notes in
  Control and Information Sciences, P. Corke and J.
  Trevelyan, Eds. Springer-Verlag, 2000, pp.
  403-412.