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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Knott, T., Law, Y., Kuhlen, T. (2012). Stable and Transparent Bimanual Six-Degree-of-Freedom Haptic Rendering Using Trust Region Optimization. In: Isokoski, P., Springare, J. (eds) Haptics: Perception, Devices, Mobility, and Communication. EuroHaptics 2012. Lecture Notes in Computer Science, vol 7282. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31401-8_25
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DOI: https://doi.org/10.1007/978-3-642-31401-8_25
Publisher Name: Springer, Berlin, Heidelberg
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