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TOH
2008
98views more  TOH 2008»
9 years 11 months ago
Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models
Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high tempora...
Jernej Barbic, Doug L. James
IJRR
2006
172views more  IJRR 2006»
9 years 11 months ago
A Haptic Teleoperation Approach Based on Contact Force Control
This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control s...
Jaeheung Park, Oussama Khatib
SCA
2007
10 years 2 months ago
Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models
Real-time evaluation of distributed contact forces for rigid or deformable 3D objects is important for providing multi-sensory feedback in emerging real-time applications, such as...
Jernej Barbic, Doug L. James
SIGGRAPH
1991
ACM
10 years 3 months ago
Coping with friction for non-penetrating rigid body simulation
Algorithms and computational complexity measures for simulating the motion of contacting bodies with friction are presented. The bodies are restricted to be perfectly rigid bodies...
David Baraff
SIGGRAPH
1994
ACM
10 years 3 months ago
Fast contact force computation for nonpenetrating rigid bodies
A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In co...
David Baraff
IROS
2006
IEEE
81views Robotics» more  IROS 2006»
10 years 5 months ago
Submerged Freeze Gripper to Manipulate Micro-objects
— Manipulating microscopic objects with the necessary dexterity still remains a very challenging task. In this paper, we propose a freeze gripper able to manipulate micro-objects...
Beatriz Lopez Walle, Michaël Gauthier, Nicola...
ICRA
2006
IEEE
86views Robotics» more  ICRA 2006»
10 years 5 months ago
Force-controlled Microcontact Printing using Microassembled Particle Templates
— In this paper, force-controlled microcontact printing using microassembly-based particle templates is investigated. Polystyrene microparticles are assembled semi-automatically ...
Afshin Tafazzoli, Chytra Pawashe, Metin Sitti
ICRA
2006
IEEE
90views Robotics» more  ICRA 2006»
10 years 5 months ago
A Fast and Adaptive Test of Static Equilibrium for Legged Robots
— A legged robot walking on uneven terrain can avoid falling only by applying contact forces with its feet on the ground that compensate for gravity without causing slip. To plan...
Timothy Bretl, Sanjay Lall
IROS
2007
IEEE
164views Robotics» more  IROS 2007»
10 years 6 months ago
Analysis of indeterminate contact forces in robotic grasping and contact tasks
— In this paper, we analyze indeterminate contact forces in robotic grasping and contact tasks. Previous studies by Omata and Nagata showed that there is a constraint on static f...
Yusuke Maeda, Koutarou Oda, Satoshi Makita
HAPTICS
2007
IEEE
10 years 6 months ago
Transparent Rendering of Tool Contact with Compliant Environments
Transparent haptic rendering of the contact between a tool and its environment requires very frequent update of the contact forces acting on the tool. Given a rigid tool and a def...
Miguel A. Otaduy, Markus H. Gross
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