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IROS
2007
IEEE

Energy-based 6-DOF penetration depth computation for penalty-based haptic rendering algorithms

13 years 10 months ago
Energy-based 6-DOF penetration depth computation for penalty-based haptic rendering algorithms
Abstract— Existing penalty-based haptic rendering approaches compute penetration depth in strictly translational sense and cannot properly take object rotation into account. We aim to provide a theoretical foundation for computing the penetration depth on the group of rigid-body motions SE(3). We propose a penalty-based six-degrees-of-freedom (6-DOF) haptic rendering algorithm based on determining the closestpoint projection of the inadmissible configuration onto the set of admissible configurations. Energy is used to define the metric on the configuration space. Once the projection is found the 6-DOF wrench can be computed. The configuration space is locally represented with exponential coordinates to make the algorithm more efficient. Numerical examples compare the proposed algorithm with the existing approaches and show its advantages.
Maxim Kolesnikov, Milos Zefran
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Maxim Kolesnikov, Milos Zefran
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