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HAPTICS
2005
IEEE

Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration

10 years 4 months ago
Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration
In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linearization of contact and manipulation forces, and it provides higher stability and responsiveness than previous methods. The linearization of contact forces, coupled with fast, perceptually based collision detection algorithms, enables us to perform highly stable and responsive 6-degreeof-freedom haptic rendering of complex polygonal models.
Miguel A. Otaduy, Ming C. Lin
Added 24 Jun 2010
Updated 24 Jun 2010
Type Conference
Year 2005
Where HAPTICS
Authors Miguel A. Otaduy, Ming C. Lin
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