Stable and Responsive 6-DoF Haptic Rendering
Miguel A. Otaduy
Ming C. Lin

Abstract: We present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linearization of contact and manipulation forces, and it provides higher stability and responsiveness than previous methods. The linearization of contact forces, coupled with fast, perceptually based collision detection algorithms, enables us to perform highly stable and responsive 6-degree-of-freedom haptic rendering of complex polygonal models.
A Modular Haptic Rendering Algorithm for Stable and Transparent 6-DoF Manipulation.

In IEEE Transactions on Robotics, Vol. 22(4), pp. 751-762. August 2006.
Miguel A. Otaduy and Ming C. Lin

pdf file (900KB).

Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration.

In Proceedings of the World Haptics Conference (joint Haptics Symposium and Eurohaptics). Pisa, Italy 2005.
Miguel A. Otaduy and Ming C. Lin

pdf file (1MB).

Demonstration video MPEG4 (1.5MB).
Interactive Applications by GAMMA group.

Haptic Rendering page at the ETH CGL.

Haptic Rendering of Interaction between Textured Models.

Sensation Preserving Simplification for Haptic Rendering.

CLODs: Dual Hierarchies for Multiresolution Collision Detection.

6DOF Haptic Rendering Using Localized Contact Computations.

Earlier Work on 6DOF Haptic Rendering.

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last updated: 08/23/06