Interactive dynamic simulation schemes for articulated bodies through haptic interface
Identifieur interne : 007002 ( Main/Exploration ); précédent : 007001; suivant : 007003Interactive dynamic simulation schemes for articulated bodies through haptic interface
Auteurs : Wookho Son [Corée du Sud] ; Kyunghwan Kim [Corée du Sud] ; Byungtae Jang [Corée du Sud] ; Byungtae Choi [Corée du Sud]Source :
- ETRI journal [ 1225-6463 ] ; 2003.
Descripteurs français
- Pascal (Inist)
- Interface haptique, Interface utilisateur, Mode conversationnel, Réalité virtuelle, Simulation système, Modèle dynamique, Estimation mouvement, Méthode orientée objet, Intelligence artificielle, Robotique, Evaluation performance, Trajectoire, Degré liberté, Système en ligne, Programme édition, Programmation orientée objet, Langage C++, Animation par ordinateur, Simulation numérique, Résultat expérimental, Simulation dynamique conversationnelle.
- Wicri :
- topic : Réalité virtuelle, Intelligence artificielle, Robotique.
English descriptors
- KwdEn :
- Artificial intelligence, C++ language, Computer animation, Dynamic model, Editing routine, Experimental result, Freedom degree, Haptic interfaces, Interactive dynamic simulation, Interactive mode, Motion estimation, Numerical simulation, Object oriented programming, Object-oriented methods, Online systems, Performance evaluation, Robotics, System simulation, Trajectory, User interface, Virtual reality.
Abstract
This paper describes interactive dynamic simulation schemes for articulated bodies in virtual environments, where user interaction is allowed through a haptic interface. We incorporated these schemes into our dynamic simulator I-GMS, which was developed in an object-oriented framework for simulating motions of free bodies and complex linkages, such as those needed for robotic systems or human body simulation. User interaction is achieved by performing push and pull operations with the PHANToM haptic device, which runs as an integrated part of I-GMS. We use both forward and inverse dynamics of articulated bodies for the haptic interaction by the push and pull operations, respectively. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for 6-dof (degrees of freedom) articulated bodies.
Affiliations:
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Le document en format XML
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methods</term><term>Online systems</term><term>Performance evaluation</term><term>Robotics</term><term>System simulation</term><term>Trajectory</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Interface haptique</term><term>Interface utilisateur</term><term>Mode conversationnel</term><term>Réalité virtuelle</term><term>Simulation système</term><term>Modèle dynamique</term><term>Estimation mouvement</term><term>Méthode orientée objet</term><term>Intelligence artificielle</term><term>Robotique</term><term>Evaluation performance</term><term>Trajectoire</term><term>Degré liberté</term><term>Système en ligne</term><term>Programme édition</term><term>Programmation orientée objet</term><term>Langage C++</term><term>Animation par ordinateur</term><term>Simulation numérique</term><term>Résultat expérimental</term><term>Simulation dynamique conversationnelle</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term><term>Intelligence artificielle</term><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper describes interactive dynamic simulation schemes for articulated bodies in virtual environments, where user interaction is allowed through a haptic interface. We incorporated these schemes into our dynamic simulator I-GMS, which was developed in an object-oriented framework for simulating motions of free bodies and complex linkages, such as those needed for robotic systems or human body simulation. User interaction is achieved by performing push and pull operations with the PHANToM haptic device, which runs as an integrated part of I-GMS. We use both forward and inverse dynamics of articulated bodies for the haptic interaction by the push and pull operations, respectively. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for 6-dof (degrees of freedom) articulated bodies.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country><settlement><li>Séoul</li></settlement></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Son, Wookho" sort="Son, Wookho" uniqKey="Son W" first="Wookho" last="Son">Wookho Son</name></noRegion><name sortKey="Choi, Byungtae" sort="Choi, Byungtae" uniqKey="Choi B" first="Byungtae" last="Choi">Byungtae Choi</name><name sortKey="Jang, Byungtae" sort="Jang, Byungtae" uniqKey="Jang B" first="Byungtae" last="Jang">Byungtae Jang</name><name sortKey="Kim, Kyunghwan" sort="Kim, Kyunghwan" uniqKey="Kim K" first="Kyunghwan" last="Kim">Kyunghwan Kim</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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