HapticV1, Main, Exploration, bibRecordById, pubmed:15376839

A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies

Identifieur interne : 006C93 ( Main/Exploration ); précédent : 006C92; suivant : 006C94

A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies

Auteurs : W. Son [Corée du Sud] ; K. Kim ; N. M. Amato ; J. C. Trinkle

Source :

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics [ 1083-4419 ] ; 2004.

RBID : Pascal:04-0176776

Descripteurs français

Pascal (Inist)
- Bibliographie, Intelligence artificielle, Interface haptique, Programmation orientée objet, Analyse système, Simulation ordinateur, Réalité virtuelle, Théorie.
Wicri :
- topic : Bibliographie, Intelligence artificielle, Réalité virtuelle.

English descriptors

KwdEn :
- Algorithms, Articulated dynamics, Artificial intelligence, Bibliographies, Biomechanical Phenomena (methods), Computer Simulation, Computer simulation, Contact dynamics, Haptic interaction, Haptic interfaces, Humans, Interactive simulation, Joints (physiology), Models, Biological, Movement (physiology), Nonlinear Dynamics, Object oriented programming, Object-oriented design, Rigid-body contact, Robotics (methods), Systems analysis, Theory, User-Computer Interface, Virtual reality.
MESH :
- methods : Biomechanical Phenomena, Robotics.
- physiology : Joints, Movement.
- Algorithms, Computer Simulation, Humans, Models, Biological, Nonlinear Dynamics, User-Computer Interface.

Abstract

This paper presents a generalized framework for dynamic simulation realized in a prototype simulator called the Interactive Generalized Motion Simulator (I-GMS), which can simulate motions of multirigid-body systems with contact interaction in virtual environments. I-GMS is designed to meet two important goals: generality and interactivity. By generality, we mean a dynamic simulator which can easily support various systems of rigid bodies, ranging from a single free-flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. To provide this generality, we have developed I-GMS in an object-oriented framework. The user interactivity is supported through a haptic interface for articulated bodies, introducing interactive dynamic simulation schemes. This user-interaction is achieved by performing push and pull operations via the PHANToM haptic device, which runs as an integrated part of I-GMS. Also, a hybrid scheme was used for simulating internal contacts (between bodies in the multirigid-body system) in the presence of friction, which could avoid the nonexistent solution problem often faced when solving contact problems with Coulomb friction. In our hybrid scheme, two impulse-based methods are exploited so that different methods are applied adaptively, depending on whether the current contact situation is characterized as "bouncing" or "steady." We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories of a 6-degree of freedom (dof) articulated structure.

Affiliations:

Corée du Sud

Le document en format XML

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A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies

A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

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