Skip to main content
SpringerLink
Log in

Configuration-based Optimization Approach

  • Chapter
  • First Online:
Haptic Rendering for Simulation of Fine Manipulation

  • 638 Accesses

Abstract

To tackle computational challenges in 6-DoF haptic rendering of fine manipulation, in this book we present a novel constraint-based approach: the configuration-based optimization approach. In this chapter, we introduce the basics of the configuration-based optimization approach to 6-DoF haptic rendering of rigid body in contact.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
eBook
USD 16.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 54.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  • Adachi Y, Kumano T, Ogino K (1995) Intermediate representation for stiff virtual objects. In: Proceedings of virtual reality annual international symposium, pp 203–210

    Google Scholar 

  • Adams RJ, Hannaford B (1998) A two-port framework for the design of unconditionally stable haptic interfaces. In: Proceedings of IEEE/RSJ international conference on intelligent robots systems, pp 1254–1259

    Google Scholar 

  • Berkelman PJ (1999) Tool-based haptic interaction with dynamic physical simulations using Lorentz magnetic levitation. PhD dissertation, Robotics Institution, Carnegie Mellon University, Pittsburgh, PA

    Google Scholar 

  • Bradshaw G, Sullivan CO (2004) Adaptive medial-axis approximation for sphere-tree construction. ACM Trans Graph 23(1):1–26

    Google Scholar 

  • Bradshaw G (2003) Sphere-tree construction toolkit. http://isg.cs.tcd.ie/spheretree/, Feb 2003

  • Brooks Jr FP, Ouh-Young M, Batter JJ, Kilpatrick PJ, Baskett F (eds) (1990) Project GROPE—haptic displays for scientific visualization. In: Proceedings of computer graphics (SIGGRAPH), Aug 1990, vol 24, pp 177–185

    Google Scholar 

  • Chang B, Colgate JE (1997) Real-time impulse-based simulation of rigid body systems for haptic display. In: Proceedings of ASME Dynamic Systems and Control Division, pp 145–152

    Google Scholar 

  • Colgate JE, Brown JM (1994) Factors affecting the Z-width of a haptic display. In: Proceedings of IEEE international conference on robotics and automation, Los Alamitos, CA, pp 3205–3210

    Google Scholar 

  • Colgate JE, Schenkel GG (1994) Passivity of a class of sampled-data systems: application to haptic interfaces. In: Proceedings of American control conference, pp 3236–3240

    Google Scholar 

  • Colgate JE, Stanley MC, Brown JM (1995) Issues in the haptic display of tool use. In: Proceedings of IEEE/RSJ international conference on intelligent robots systems, pp 140–145

    Google Scholar 

  • Craig JJ (1989) Introduction to robotics: mechanics and control, 2nd edn. Addison-Wesley, Reading

    MATH  Google Scholar 

  • Duriez C, Dubois F, Kheddar A, Andriot C (2006) Realistic haptic rendering of interacting deformable objects in virtual environments. IEEE Trans Vis Comput Graph 12:36–47

    Google Scholar 

  • Gregory A, Mascarenhas A, Ehmann S, Lin MC, Manocha D (2000) 6-DOF haptic display of polygonal models. In: Proceedings of IEEE visualization conference, pp 139–146

    Google Scholar 

  • Hannaford B, Ryu J-H, Kim YS (2002) Stable control of haptics. In: McLaughlin ML, Hespanha JP, Sukhatme GS (eds) Touch in virtual environments, Chap 2. Prentice-Hall, Upper Saddle River, pp 47–70

    Google Scholar 

  • Ho C, Basdogan C, Srinivasan MA (1999) An efficient haptic rendering technique for displaying 3D polyhedral objects and their surface details in virtual environments. Presence Teleoperators Virtual Environ 8(5):477–491

    Article  Google Scholar 

  • Hubbard PM (1996) Approximating polyhedra with spheres for time-critical collision detection. ACM Trans Graph 15(3):179–210

    Article  Google Scholar 

  • Johnson DE, Willemsen P (2004) Accelerated haptic rendering of polygonal models through local descent. In: Proceedings of haptics symposium, pp 18–23

    Google Scholar 

  • Jones LA, Hunter IW, Irwin RJ (1992) Differential thresholds for limb movement measured using adaptive techniques. Percept Psychophys 52:529–535

    Article  Google Scholar 

  • Kim YJ, Otaduy MA, Lin MC, Manocha D (2003) Six-degree-of-freedom haptic rendering using incremental and localized computations. Presence 12(3):277–295

    Article  Google Scholar 

  • Lin MC, Otaduy M (2008) Haptic rendering: foundations, algorithms, and applications. A K Peters, Ltd, USA

    Google Scholar 

  • Mahvash M, Hayward V (2005) High-fidelity passive force-reflecting virtual environments. IEEE Trans Robot 21(1):38–46

    Article  Google Scholar 

  • McNeely W, Puterbaugh K, Troy J (1999) Six degree-of-freedom haptic rendering using voxel sampling. In: Proceedings of ACM SIGGRAPH

    Google Scholar 

  • Miller BE, Colgate JE, Freeman RA (2000) Guaranteed stability of haptic systems with nonlinear virtual environments. IEEE Trans Robot Autom 16(6):712–719

    Article  Google Scholar 

  • Nocedal J, Wright SJ (2006) Numerical optimization, 2nd edn. Springer, Berlin

    Google Scholar 

  • Ortega M, Redon S, Coquillart S (2007) A six degree-of-freedom god-object method for haptic display of rigid bodies with surface properties. IEEE Trans Vis Comput Graph 13(3):458–469

    Google Scholar 

  • Pang X, Tan HZ, Durlach NI (1991) Manual discrimination of force using active finger motion. Percept Psychophys 49(6):531–540

    Article  Google Scholar 

  • Redon S (2004) Fast continuous collision detection and handling for desktop virtual prototyping. Virtual Reality 8(1):63–70

    Google Scholar 

  • Ruffaldi E, Morris D, Edmunds T, Barbagli F, Pai D (2006) Standardized evaluation of haptic rendering systems. In: IEEE haptic interfaces for virtual environment and teleoperator systems, VR

    Google Scholar 

  • Ruspini D, Khatib O (2000) A framework for multi-contact multi-body dynamic simulation and haptic display. In: Proceedings of IEEE/RSJ international conference on intelligent robots systems, pp 1322–1327

    Google Scholar 

  • Ruspini DC, Kolarov K, Khatib O (1997) The haptic display of complex graphical environments. In: Whitted T (ed) Proceedings of SIGGRAPH 97, computer graphics proceedings, annual conference series. Addison Wesley, Reading, pp 345–352

    Google Scholar 

  • Salcudean SE, Vlaar TD (1994) On the emulation of stiff walls and static friction with a magnetically levitated input/output device. In: Proceedings of ASME haptic interfaces for virtual environment and teleoperator systems, pp 303–310

    Google Scholar 

  • Tan HZ, Durlach NI, Beauregard GL, Srinivasan MA (1995) Manual discrimination of compliance using active pinch grasp: the roles of force and work cues. Percept Psychophys 57:495–510

    Article  Google Scholar 

  • Tang M, Kim YJ, Manocha D (2009) C2A: controlled conservative advancement for continuous collision detection of polygonal models. ICRA, pp 849–854

    Google Scholar 

  • Wan M, McNeely WA (2003) Quasi-static approximation for 6 degrees-of-freedom haptic rendering. In Proceedings of IEEE visualization conference, pp 257–262

    Google Scholar 

  • Wang D, Zhang X, Zhang Y, Xiao J (2011) Configuration-based optimization for six degree-of-freedom haptic rendering for fine manipulation. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp 906–912

    Google Scholar 

  • Wang D, Zhang Y, Hou J, Wang Y, Lü P, Chen Y, Zhao H (2012a) iDental: a haptic-based dental simulator and its preliminary evaluation. IEEE Trans Haptics 5(4):332–343

    Google Scholar 

  • Wang D, Liu S, Zhang X, Zhang Y, Xiao J (2012b) Six-degree-of-freedom haptic simulation of organ deformation in dental operations. In: IEEE international conference on robotics and automation, ICRA 2012, St. Paul, 14–18 May 2012, pp 1050–1056

    Google Scholar 

  • Wang D, Liu S, Xiao J, Hou J, Zhang Y (2012c) Six degree-of-freedom haptic simulation of pathological changes in periodontal operations. In: 2012 IEEE/RSJ international conference on intelligent robots and systems (IROS2012), Vilamoura, Algarve, 7–12 Oct 2012

    Google Scholar 

  • Wang D, Zhang X, Zhang Y, Xiao J (2013) Configuration-based optimization for six degree-of-freedom haptic rendering for fine manipulation. IEEE Trans Haptics 6(2):167–180

    Article  Google Scholar 

  • Weller R, Zachmann G (2009) A unified approach for physically-based simulations and haptic rendering. In: Proceedings of the ACM SIGGRAPH symposium on video games. ACM, New York, NY, USA, pp 151–159

    Google Scholar 

  • Zhang L (2009) Efficient motion planning using generalized penetration depth computation. PhD thesis, Computer Science Department, University of North Carolina at Chapel Hill

    Google Scholar 

  • Zhang X, Lee M, Kim YJ (2006) Interactive continuous collision detection for non-convex polyhedra. Vis Comput 22(9):749–760

    Article  Google Scholar 

  • Zhang X, Wang D, Zhang Y, Xiao J (2011) Configuration-based optimization for six degree-of-freedom haptic rendering using sphere-trees. In: Proceedings of the IEEE International Conference on Intelligent Robot and Systems (IROS), pp 2602–2607

    Google Scholar 

  • Zilles CB, Salisbury JK (1995) A Constraint-based god-object method for haptic display. In: Proceedings of IEEE/RSJ international conference on intelligent robots and systems, Aug 1995

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Beihang University, Beijing, China

    Dangxiao Wang & Yuru Zhang

  2. University of North Carolina at Charlotte, Charlotte, NC, USA

    Jing Xiao

Authors
  1. Dangxiao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jing Xiao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yuru Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Dangxiao Wang .

2.1 Electronic Supplementary Material

Below is the link to the electronic supplementary material.

Supplementary material 1 (WMV 6603 kb)

Supplementary material 2 (WMV 1747 kb)

Supplementary material 3 (WMV 1472 kb)

Supplementary material 4 (WMV 6154 kb)

Supplementary material 5 (WMV 5572 kb)

Supplementary material 6 (WMV 5573 kb)

Supplementary material 7 (WMV 3869 kb)

Supplementary material 8 (WMV 2647 kb)

Supplementary material 9 (WMV 3257 kb)

Supplementary material 10 (WMV 2388 kb)

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Wang, D., Xiao, J., Zhang, Y. (2014). Configuration-based Optimization Approach. In: Haptic Rendering for Simulation of Fine Manipulation. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44949-3_2

Download citation

  • DOI: https://doi.org/10.1007/978-3-662-44949-3_2

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-44948-6

  • Online ISBN: 978-3-662-44949-3

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation