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A new computational model of friction applied to haptic rendering

  • Chapter 10 Haptics
  • Conference paper
  • First Online:
Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

A time-free, drift-free, multi-dimensional model of friction is introduced. A discrete implementation is developed which exhibits four solution regimes: sticking, creeping, oscillating, and sliding. Its computational solution is efficient to compute online and is robust to noise. It is applied to haptic rendering.

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References

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Author information

Authors and Affiliations

  1. Center for Intelligent Machines, McGill University, 3480 University Street, H3A 2A7, Montreal, Qc, Canada

    Vincent Hayward

  2. Department of Electrical Engineering and Computer Science, University of Wisconsin — Milwaukee, Post Office Box 784, 53201-0784, Milwaukee, Wisconsin, USA

    Brian Armstrong

Authors
  1. Vincent Hayward
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  2. Brian Armstrong
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Corresponding authors

Correspondence to Vincent Hayward or Brian Armstrong .

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© 2000 Springer-Verlag London Limited

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Hayward, V., Armstrong, B. (2000). A new computational model of friction applied to haptic rendering. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119418

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  • DOI: https://doi.org/10.1007/BFb0119418

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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