filename     : p_TRO06Otaduy.pdf
entry        : article
conference   : 
pages        : 12
year         : 2006
month        : August
title        : A Modular Haptic Rendering Algorithm for Stable and Transparent 6-DOF Manipulation
subtitle     : 
author       : Miguel A. Otaduy and Ming C. Lin
booktitle    : IEEE Transactions on Robotics
ISSN/ISBN    : 1552-3098
editor       : Prof. Alessandro de Luca
publisher    : IEEE Robotics and Automation Society
publ.place   : 
volume       : 22
issue        : 4
language     : English
keywords     : clustering, collision detection, haptic rendering, numerical integration
abstract     : 
This paper presents a modular algorithm for sixdegree-
of-freedom (6-DOF) haptic rendering. The algorithm is
aimed to provide transparent manipulation of rigid models with
a high polygon count. On the one hand, enabling a stable display
is simplified by exploiting the concept of virtual coupling and
employing passive implicit integration methods for the simulation
of the virtual tool. On the other hand, transparency is enhanced
by maximizing the update rate of the simulation of the virtual
tool, and thereby the coupling impedance, and allowing for stable
simulation with small mass values. The combination of a linearized
contact model that frees the simulation from the computational
bottleneck of collision detection, with penalty-based collision
response well suited for fixed time-stepping, guarantees that the
motion of the virtual tool is simulated at the same high rate as the
synthesis of feedback force and torque. Moreover, sensation-preserving
multiresolution collision detection ensures a fast update
of the linearized contact model in complex contact scenarios, and
a novel contact clustering technique alleviates possible instability
problems induced by penalty-based collision response.