TY - GEN
T1 - A force-feedback algorithm for adaptive articulated-body dynamics simulation
AU - Morin, Sandy
AU - Redon, Stephane
PY - 2007/11/27
Y1 - 2007/11/27
N2 - This paper introduces a novel algorithm for haptic interaction with an adaptive simulation of articulated-body dynamics. Our algorithm has a multi-threaded structure, which allows us to separate the force feedback computation from the adaptive dynamics simulation. The algorithm we propose for force feedback computation has a logarithmic complexity in the number of degrees of freedom in the articulated body. We have implemented our approach and tested it on a 3.0GHz dual processor Xeon PC. The preliminary benchmarks presented here demonstrate that our multi-threaded approach, as well as the logarithmic complexity of the force feedback computation, allow us to interact in a stable way with large articulated bodies that have complex dynamics (such as articulated-body models of proteins). Whatever the update rate of the adaptive simulation loop, the force feedback computation is performed in a few tens of microseconds.
AB - This paper introduces a novel algorithm for haptic interaction with an adaptive simulation of articulated-body dynamics. Our algorithm has a multi-threaded structure, which allows us to separate the force feedback computation from the adaptive dynamics simulation. The algorithm we propose for force feedback computation has a logarithmic complexity in the number of degrees of freedom in the articulated body. We have implemented our approach and tested it on a 3.0GHz dual processor Xeon PC. The preliminary benchmarks presented here demonstrate that our multi-threaded approach, as well as the logarithmic complexity of the force feedback computation, allow us to interact in a stable way with large articulated bodies that have complex dynamics (such as articulated-body models of proteins). Whatever the update rate of the adaptive simulation loop, the force feedback computation is performed in a few tens of microseconds.
U2 - 10.1109/ROBOT.2007.363973
DO - 10.1109/ROBOT.2007.363973
M3 - Conference contribution
AN - SCOPUS:36348932753
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3245
EP - 3250
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -