HapticV1, PascalFrancis, Corpus, bibRecord, 000782

Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation

Identifieur interne : 000782 ( PascalFrancis/Corpus ); précédent : 000781; suivant : 000783

Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation

Auteurs : Igor Goncharenko ; Mikhail Svinin ; Shigeyuki Hosoe

Source :

Journal of computing and information science in engineering [ 1530-9827 ] ; 2009.

RBID : Pascal:09-0231102

Descripteurs français

Pascal (Inist)
- Commande mouvement, Navigation, Réalité virtuelle, Temps réel, Base de données, Sensibilité tactile, Mouvement corporel, Planification trajectoire, Geste, Hémisphère, Modèle dynamique.

English descriptors

KwdEn :
- Body movement, Database, Dynamic model, Gesture, Hemisphere, Motion control, Navigation, Path planning, Real time, Tactile sensitivity, Virtual reality.

Abstract

A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A09	`01`	`1`	`ENG`	`@1 Special Issue on Haptics, Tactile and Multimodal Interfaces`
A11	`01`	`1`		`@1 GONCHARENKO (Igor)`
A11	`02`	`1`		`@1 SVININ (Mikhail)`
A11	`03`	`1`		`@1 HOSOE (Shigeyuki)`
A12	`01`	`1`		`@1 KESAVADAS (Thenkurussi) @9 ed.`
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A15	`01`			`@1 Virtual Reality Laboratory, State University of New York @2 Buffalo, NY 14216 @3 USA @Z 1 aut.`
A15	`02`			`@1 Department of Mechanical Engineering and Materials Science, Rice University @2 Houston, TX 77005 @3 USA @Z 2 aut.`
A15	`03`			`@1 Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University @2 Ames, IA 50010 @3 USA @Z 3 aut.`
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C01	`01`		`ENG`	@0 A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.
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C03	`06`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`06`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`06`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
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C03	`10`	`X`	`SPA`	`@0 Hemisferio @5 22`
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Format Inist (serveur)

NO :	PASCAL 09-0231102 INIST
ET :	Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation
AU :	GONCHARENKO (Igor); SVININ (Mikhail); HOSOE (Shigeyuki); KESAVADAS (Thenkurussi); O'MALLEY (Marcia); OLIVER (James)
AF :	3D Incorporated, Kanagawa-ku, Sakaecho 1-1/Urban Square, Yokohama 221-0052/Japon (1 aut.); Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami/Moriyama-ku, Nagoya 463-0003/Japon (2 aut., 3 aut.); Virtual Reality Laboratory, State University of New York/Buffalo, NY 14216/Etats-Unis (1 aut.); Department of Mechanical Engineering and Materials Science, Rice University/Houston, TX 77005/Etats-Unis (2 aut.); Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University/Ames, IA 50010/Etats-Unis (3 aut.)
DT :	Publication en série; Papier de recherche; Niveau analytique
SO :	Journal of computing and information science in engineering; ISSN 1530-9827; Coden JCISB6; Etats-Unis; Da. 2009; Vol. 9; No. 1; 011004.1-011004.10; Bibl. 37 ref.
LA :	Anglais
EA :	A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.
CC :	001D02B04; 001D02B11
FD :	Commande mouvement; Navigation; Réalité virtuelle; Temps réel; Base de données; Sensibilité tactile; Mouvement corporel; Planification trajectoire; Geste; Hémisphère; Modèle dynamique
ED :	Motion control; Navigation; Virtual reality; Real time; Database; Tactile sensitivity; Body movement; Path planning; Gesture; Hemisphere; Dynamic model
SD :	Control movimiento; Navegación; Realidad virtual; Tiempo real; Base dato; Sensibilidad tactil; Movimiento corporal; Gesto; Hemisferio; Modelo dinámico
LO :	INIST-6120Q.354000186766360040
ID :	09-0231102

Links to Exploration step

Pascal:09-0231102

Le document en format XML

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<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
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<server><NO>PASCAL 09-0231102 INIST</NO>
<ET>Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation</ET>
<AU>GONCHARENKO (Igor); SVININ (Mikhail); HOSOE (Shigeyuki); KESAVADAS (Thenkurussi); O'MALLEY (Marcia); OLIVER (James)</AU>
<AF>3D Incorporated, Kanagawa-ku, Sakaecho 1-1/Urban Square, Yokohama 221-0052/Japon (1 aut.); Bio-Mimetic Control Research Center, RIKEN, Anagahora, Shimoshidami/Moriyama-ku, Nagoya 463-0003/Japon (2 aut., 3 aut.); Virtual Reality Laboratory, State University of New York/Buffalo, NY 14216/Etats-Unis (1 aut.); Department of Mechanical Engineering and Materials Science, Rice University/Houston, TX 77005/Etats-Unis (2 aut.); Department of Mechanical Engineering, Virtual Reality Applications Center, Iowa State University/Ames, IA 50010/Etats-Unis (3 aut.)</AF>
<DT>Publication en série; Papier de recherche; Niveau analytique</DT>
<SO>Journal of computing and information science in engineering; ISSN 1530-9827; Coden JCISB6; Etats-Unis; Da. 2009; Vol. 9; No. 1; 011004.1-011004.10; Bibl. 37 ref.</SO>
<LA>Anglais</LA>
<EA>A virtual reality haptic system for capturing skillful human movements in control of a hemisphere rolling on a plane without slipping is presented in this paper. A dynamic model of this nonholonomic rolling system with configuration-dependent inertia and gravity is derived, and a solver, required for the real-time haptic interaction, is implemented. The performance of the haptic system is verified under experiments with human subjects. Experimental data recorded by the haptic system are analyzed and some common features of human movements in the precession phase of the manipulation of the rolling system are observed. Finally, a simple actuation scheme, capturing these features, is proposed and verified under simulation.</EA>
<CC>001D02B04; 001D02B11</CC>
<FD>Commande mouvement; Navigation; Réalité virtuelle; Temps réel; Base de données; Sensibilité tactile; Mouvement corporel; Planification trajectoire; Geste; Hémisphère; Modèle dynamique</FD>
<ED>Motion control; Navigation; Virtual reality; Real time; Database; Tactile sensitivity; Body movement; Path planning; Gesture; Hemisphere; Dynamic model</ED>
<SD>Control movimiento; Navegación; Realidad virtual; Tiempo real; Base dato; Sensibilidad tactil; Movimiento corporal; Gesto; Hemisferio; Modelo dinámico</SD>
<LO>INIST-6120Q.354000186766360040</LO>
<ID>09-0231102</ID>
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Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation

Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation

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