Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization

Thomas Knott; Yuen Law; Torsten Kuhlen

doi:10.1007/978-3-642-31401-8_25

Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization

Thomas Knott
, Yuen Law
, Torsten Kuhlen

RWTH Aachen University

Research output: Contribution to journal › Conference article › peer-review

3 Scopus citations

Abstract

In this paper we present a haptic rendering algorithm for simulating the interaction of two independently controlled rigid objects with each other and a rigid environment. Our penalty based approach is based on a linearization model of occurring forces, and employs, for the computation of object positions and orientations, an iterative trust-region-based-optimization method. At this, the combination of a per step passivity condition and an adaptively controlled maximal object displacement achieves a stable and transparent rendering in free space and in contact situations.

Original language	English
Pages (from-to)	270-281
Number of pages	12
Journal	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	7282 LNCS
Issue number	PART 1
DOIs	https://doi.org/10.1007/978-3-642-31401-8_25
State	Published - 2012
Externally published	Yes
Event	International Conference on Haptics: Perception, Devices, Mobility, and Communication, EuroHaptics 2012 - Tampere, Finland Duration: 13 Jun 2012 → 15 Jun 2012

Keywords

bimanual
numerical integration
passivity
six degree-of-freedom haptic rendering
stability
virtual coupling

Access to Document

10.1007/978-3-642-31401-8_25

Cite this

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title = "Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization",

abstract = "In this paper we present a haptic rendering algorithm for simulating the interaction of two independently controlled rigid objects with each other and a rigid environment. Our penalty based approach is based on a linearization model of occurring forces, and employs, for the computation of object positions and orientations, an iterative trust-region-based-optimization method. At this, the combination of a per step passivity condition and an adaptively controlled maximal object displacement achieves a stable and transparent rendering in free space and in contact situations.",

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author = "Thomas Knott and Yuen Law and Torsten Kuhlen",

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Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization. / Knott, Thomas; Law, Yuen; Kuhlen, Torsten.
In: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol. 7282 LNCS, No. PART 1, 2012, p. 270-281.

Research output: Contribution to journal › Conference article › peer-review

TY - JOUR

T1 - Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization

AU - Knott, Thomas

AU - Law, Yuen

AU - Kuhlen, Torsten

PY - 2012

Y1 - 2012

N2 - In this paper we present a haptic rendering algorithm for simulating the interaction of two independently controlled rigid objects with each other and a rigid environment. Our penalty based approach is based on a linearization model of occurring forces, and employs, for the computation of object positions and orientations, an iterative trust-region-based-optimization method. At this, the combination of a per step passivity condition and an adaptively controlled maximal object displacement achieves a stable and transparent rendering in free space and in contact situations.

AB - In this paper we present a haptic rendering algorithm for simulating the interaction of two independently controlled rigid objects with each other and a rigid environment. Our penalty based approach is based on a linearization model of occurring forces, and employs, for the computation of object positions and orientations, an iterative trust-region-based-optimization method. At this, the combination of a per step passivity condition and an adaptively controlled maximal object displacement achieves a stable and transparent rendering in free space and in contact situations.

KW - bimanual

KW - numerical integration

KW - passivity

KW - six degree-of-freedom haptic rendering

KW - stability

KW - virtual coupling

UR - https://www.scopus.com/pages/publications/84883804125

U2 - 10.1007/978-3-642-31401-8_25

DO - 10.1007/978-3-642-31401-8_25

M3 - Artículo de la conferencia

AN - SCOPUS:84883804125

SN - 0302-9743

VL - 7282 LNCS

SP - 270

EP - 281

JO - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

JF - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

IS - PART 1

T2 - International Conference on Haptics: Perception, Devices, Mobility, and Communication, EuroHaptics 2012

Y2 - 13 June 2012 through 15 June 2012

ER -

Stable and transparent bimanual six-degree-of-freedom haptic rendering using trust region optimization

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Keywords

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