HapticV1, PascalFrancis, Curation, bibRecord, 000433

A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies

Identifieur interne : 000433 ( PascalFrancis/Curation ); précédent : 000432; suivant : 000434

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 :
- Articulated dynamics, Artificial intelligence, Bibliographies, Computer simulation, Contact dynamics, Haptic interaction, Haptic interfaces, Interactive simulation, Object oriented programming, Object-oriented design, Rigid-body contact, Systems analysis, Theory, Virtual reality.

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.

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C01	`01`		`ENG`	@0 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.
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A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies

A Generalized Framework for Interactive Dynamic Simulation for Multirigid Bodies

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Descripteurs français

English descriptors

Abstract

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