A generalized framework for interactive dynamic simulation for MultiRigid bodies.
Identifieur interne : 000569 ( Ncbi/Checkpoint ); précédent : 000568; suivant : 000570A generalized framework for interactive dynamic simulation for MultiRigid bodies.
Auteurs : Wookho Son [Corée du Sud] ; Kyunghwan Kim ; Nancy M. Amato ; Jeffrey C. TrinkleSource :
- IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society [ 1083-4419 ] ; 2004.
English descriptors
- KwdEn :
- 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.
PubMed: 15376839
Affiliations:
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A generalized framework for interactive dynamic simulation for MultiRigid bodies.</title><author><name sortKey="Son, Wookho" sort="Son, Wookho" uniqKey="Son W" first="Wookho" last="Son">Wookho Son</name><affiliation wicri:level="1"><nlm:affiliation>Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350, Korea. whson@etri.re.kr</nlm:affiliation><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350</wicri:regionArea><wicri:noRegion>Taejon 305-350</wicri:noRegion></affiliation></author><author><name sortKey="Kim, Kyunghwan" sort="Kim, Kyunghwan" uniqKey="Kim K" first="Kyunghwan" last="Kim">Kyunghwan Kim</name></author><author><name sortKey="Amato, Nancy M" sort="Amato, Nancy M" uniqKey="Amato N" first="Nancy M" last="Amato">Nancy M. Amato</name></author><author><name sortKey="Trinkle, Jeffrey C" sort="Trinkle, Jeffrey C" uniqKey="Trinkle J" first="Jeffrey C" last="Trinkle">Jeffrey C. Trinkle</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2004">2004</date><idno type="RBID">pubmed:15376839</idno><idno type="pmid">15376839</idno><idno type="wicri:Area/PubMed/Corpus">001A95</idno><idno type="wicri:Area/PubMed/Curation">001A95</idno><idno type="wicri:Area/PubMed/Checkpoint">001878</idno><idno type="wicri:Area/Ncbi/Merge">000569</idno><idno type="wicri:Area/Ncbi/Curation">000569</idno><idno type="wicri:Area/Ncbi/Checkpoint">000569</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A generalized framework for interactive dynamic simulation for MultiRigid bodies.</title><author><name sortKey="Son, Wookho" sort="Son, Wookho" uniqKey="Son W" first="Wookho" last="Son">Wookho Son</name><affiliation wicri:level="1"><nlm:affiliation>Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350, Korea. whson@etri.re.kr</nlm:affiliation><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350</wicri:regionArea><wicri:noRegion>Taejon 305-350</wicri:noRegion></affiliation></author><author><name sortKey="Kim, Kyunghwan" sort="Kim, Kyunghwan" uniqKey="Kim K" first="Kyunghwan" last="Kim">Kyunghwan Kim</name></author><author><name sortKey="Amato, Nancy M" sort="Amato, Nancy M" uniqKey="Amato N" first="Nancy M" last="Amato">Nancy M. Amato</name></author><author><name sortKey="Trinkle, Jeffrey C" sort="Trinkle, Jeffrey C" uniqKey="Trinkle J" first="Jeffrey C" last="Trinkle">Jeffrey C. Trinkle</name></author></analytic><series><title level="j">IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society</title><idno type="ISSN">1083-4419</idno><imprint><date when="2004" type="published">2004</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Biomechanical Phenomena (methods)</term><term>Computer Simulation</term><term>Humans</term><term>Joints (physiology)</term><term>Models, Biological</term><term>Movement (physiology)</term><term>Nonlinear Dynamics</term><term>Robotics (methods)</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Biomechanical Phenomena</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Joints</term><term>Movement</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Computer Simulation</term><term>Humans</term><term>Models, Biological</term><term>Nonlinear Dynamics</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country></list><tree><noCountry><name sortKey="Amato, Nancy M" sort="Amato, Nancy M" uniqKey="Amato N" first="Nancy M" last="Amato">Nancy M. Amato</name><name sortKey="Kim, Kyunghwan" sort="Kim, Kyunghwan" uniqKey="Kim K" first="Kyunghwan" last="Kim">Kyunghwan Kim</name><name sortKey="Trinkle, Jeffrey C" sort="Trinkle, Jeffrey C" uniqKey="Trinkle J" first="Jeffrey C" last="Trinkle">Jeffrey C. Trinkle</name></noCountry><country name="Corée du Sud"><noRegion><name sortKey="Son, Wookho" sort="Son, Wookho" uniqKey="Son W" first="Wookho" last="Son">Wookho Son</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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