HapticV1, PascalFrancis, Corpus, bibRecord, 001053

Stable haptic interaction in a dynamic virtual environment

Identifieur interne : 001053 ( PascalFrancis/Corpus ); précédent : 001052; suivant : 001054

Stable haptic interaction in a dynamic virtual environment

Auteurs : Jérome Davanne ; Philippe Meseure ; Christophe Chaillou

Source :

RBID : Pascal:04-0197491

Descripteurs français

Pascal (Inist)
- Réalité virtuelle, Image fixe, Boucle réaction, Sensibilité tactile, Corps mobile, Corps déformable, Voxel, Sphère, Segmentation, Détection collision.

English descriptors

KwdEn :
- Collision detection, Deformable body, Feedback, Fixed image, Moving body, Segmentation, Sphere, Tactile sensitivity, Virtual reality, Voxel.

Abstract

To carry out a stable haptic interaction with a dynamic virtual environment containing several moving and/or deformable bodies is challenging. To achieve this, we present a collision detection algorithm based on a segmentation of the space with a regular voxel grid. Interpenetration is quickly estimated using a sphere decomposition of the bodies. Thereafter, we use the voxel grid as a still image of the environment to provide a fast intermediate model that computes the force feedback. It thus enables to simulate the environment at a slow rate (10-100Hz) while controlling the haptic device at the required frequency (about 1kHz).

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Stable haptic interaction in a dynamic virtual environment`
A09	`01`	`1`	`ENG`	`@1 2002 IEEE/RSJ international conference on intelligent robots and systems : Lausanne, 30 September - 4 October 2002`
A11	`01`	`1`		`@1 DAVANNE (Jérome)`
A11	`02`	`1`		`@1 MESEURE (Philippe)`
A11	`03`	`1`		`@1 CHAILLOU (Christophe)`
A14	`01`			`@1 LIFL (Computer Science Laboratory of Lille), CNRS UPRESA 8022, U.F.R. d'I.E.E.A. - Bât M3 @2 59655 Villeneuve d'Ascq @3 FRA`
A14	`02`			`@1 Université des Sciences et Technologies de Lille @3 FRA`
A18	`01`	`1`		`@1 IEEE Robotics and Automation Society @3 USA @9 patr.`
A18	`02`	`1`		`@1 IEEE Industrial Elelctronics Society @3 USA @9 patr.`
A18	`03`	`1`		`@1 Robotics Society of Japan @3 JPN @9 patr.`
A18	`04`	`1`		`@1 Society of Instruments and Control Engineers @3 INC @9 patr.`
A18	`05`	`1`		`@1 INRIA Rhône-Alpes @2 Grenoble @3 FRA @9 patr.`
A18	`06`	`1`		`@1 EPFL @2 Lausanne @3 CHE @9 patr.`
A20				`@1 2881-2886`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-7398-7`
A30	`01`	`1`	`ENG`	`@1 IROS 2002 : international conference on intelligent robots and systems @3 Lausanne CHE @4 2002-09-30`
A43	`01`			`@1 INIST @2 Y 37951 @5 354000117764174690`
A44				`@0 0000 @1 © 2004 INIST-CNRS. All rights reserved.`
A45				`@0 17 ref.`
A47	`01`	`1`		`@0 04-0197491`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 To carry out a stable haptic interaction with a dynamic virtual environment containing several moving and/or deformable bodies is challenging. To achieve this, we present a collision detection algorithm based on a segmentation of the space with a regular voxel grid. Interpenetration is quickly estimated using a sphere decomposition of the bodies. Thereafter, we use the voxel grid as a still image of the environment to provide a fast intermediate model that computes the force feedback. It thus enables to simulate the environment at a slow rate (10-100Hz) while controlling the haptic device at the required frequency (about 1kHz).
C02	`01`	`X`		`@0 001D02C03`
C02	`02`	`X`		`@0 001D02D11`
C03	`01`	`X`	`FRE`	`@0 Réalité virtuelle @5 03`
C03	`01`	`X`	`ENG`	`@0 Virtual reality @5 03`
C03	`01`	`X`	`SPA`	`@0 Realidad virtual @5 03`
C03	`02`	`X`	`FRE`	`@0 Image fixe @5 05`
C03	`02`	`X`	`ENG`	`@0 Fixed image @5 05`
C03	`02`	`X`	`SPA`	`@0 Imagen fija @5 05`
C03	`03`	`X`	`FRE`	`@0 Boucle réaction @5 06`
C03	`03`	`X`	`ENG`	`@0 Feedback @5 06`
C03	`03`	`X`	`SPA`	`@0 Retroalimentación @5 06`
C03	`04`	`X`	`FRE`	`@0 Sensibilité tactile @5 11`
C03	`04`	`X`	`ENG`	`@0 Tactile sensitivity @5 11`
C03	`04`	`X`	`SPA`	`@0 Sensibilidad tactil @5 11`
C03	`05`	`X`	`FRE`	`@0 Corps mobile @5 12`
C03	`05`	`X`	`ENG`	`@0 Moving body @5 12`
C03	`05`	`X`	`SPA`	`@0 Cuerpo móvil @5 12`
C03	`06`	`X`	`FRE`	`@0 Corps déformable @5 13`
C03	`06`	`X`	`ENG`	`@0 Deformable body @5 13`
C03	`06`	`X`	`SPA`	`@0 Cuerpo deformable @5 13`
C03	`07`	`X`	`FRE`	`@0 Voxel @5 14`
C03	`07`	`X`	`ENG`	`@0 Voxel @5 14`
C03	`07`	`X`	`SPA`	`@0 Voxel @5 14`
C03	`08`	`X`	`FRE`	`@0 Sphère @5 15`
C03	`08`	`X`	`ENG`	`@0 Sphere @5 15`
C03	`08`	`X`	`SPA`	`@0 Esfera @5 15`
C03	`09`	`X`	`FRE`	`@0 Segmentation @5 16`
C03	`09`	`X`	`ENG`	`@0 Segmentation @5 16`
C03	`09`	`X`	`SPA`	`@0 Segmentación @5 16`
C03	`10`	`X`	`FRE`	`@0 Détection collision @4 CD @5 96`
C03	`10`	`X`	`ENG`	`@0 Collision detection @4 CD @5 96`
N21				`@1 131`
N82				`@1 PSI`

Format Inist (serveur)

NO :	PASCAL 04-0197491 INIST
ET :	Stable haptic interaction in a dynamic virtual environment
AU :	DAVANNE (Jérome); MESEURE (Philippe); CHAILLOU (Christophe)
AF :	LIFL (Computer Science Laboratory of Lille), CNRS UPRESA 8022, U.F.R. d'I.E.E.A. - Bât M3/59655 Villeneuve d'Ascq/France; Université des Sciences et Technologies de Lille/France
DT :	Congrès; Niveau analytique
SO :	IROS 2002 : international conference on intelligent robots and systems/2002-09-30/Lausanne CHE; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 2881-2886; ISBN 0-7803-7398-7
LA :	Anglais
EA :	To carry out a stable haptic interaction with a dynamic virtual environment containing several moving and/or deformable bodies is challenging. To achieve this, we present a collision detection algorithm based on a segmentation of the space with a regular voxel grid. Interpenetration is quickly estimated using a sphere decomposition of the bodies. Thereafter, we use the voxel grid as a still image of the environment to provide a fast intermediate model that computes the force feedback. It thus enables to simulate the environment at a slow rate (10-100Hz) while controlling the haptic device at the required frequency (about 1kHz).
CC :	001D02C03; 001D02D11
FD :	Réalité virtuelle; Image fixe; Boucle réaction; Sensibilité tactile; Corps mobile; Corps déformable; Voxel; Sphère; Segmentation; Détection collision
ED :	Virtual reality; Fixed image; Feedback; Tactile sensitivity; Moving body; Deformable body; Voxel; Sphere; Segmentation; Collision detection
SD :	Realidad virtual; Imagen fija; Retroalimentación; Sensibilidad tactil; Cuerpo móvil; Cuerpo deformable; Voxel; Esfera; Segmentación
LO :	INIST-Y 37951.354000117764174690
ID :	04-0197491

Links to Exploration step

Pascal:04-0197491

Le document en format XML

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<author><name sortKey="Davanne, Jerome" sort="Davanne, Jerome" uniqKey="Davanne J" first="Jérome" last="Davanne">Jérome Davanne</name>
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<author><name sortKey="Chaillou, Christophe" sort="Chaillou, Christophe" uniqKey="Chaillou C" first="Christophe" last="Chaillou">Christophe Chaillou</name>
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<front><div type="abstract" xml:lang="en">To carry out a stable haptic interaction with a dynamic virtual environment containing several moving and/or deformable bodies is challenging. To achieve this, we present a collision detection algorithm based on a segmentation of the space with a regular voxel grid. Interpenetration is quickly estimated using a sphere decomposition of the bodies. Thereafter, we use the voxel grid as a still image of the environment to provide a fast intermediate model that computes the force feedback. It thus enables to simulate the environment at a slow rate (10-100Hz) while controlling the haptic device at the required frequency (about 1kHz).</div>
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<server><NO>PASCAL 04-0197491 INIST</NO>
<ET>Stable haptic interaction in a dynamic virtual environment</ET>
<AU>DAVANNE (Jérome); MESEURE (Philippe); CHAILLOU (Christophe)</AU>
<AF>LIFL (Computer Science Laboratory of Lille), CNRS UPRESA 8022, U.F.R. d'I.E.E.A. - Bât M3/59655 Villeneuve d'Ascq/France; Université des Sciences et Technologies de Lille/France</AF>
<DT>Congrès; Niveau analytique</DT>
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<LA>Anglais</LA>
<EA>To carry out a stable haptic interaction with a dynamic virtual environment containing several moving and/or deformable bodies is challenging. To achieve this, we present a collision detection algorithm based on a segmentation of the space with a regular voxel grid. Interpenetration is quickly estimated using a sphere decomposition of the bodies. Thereafter, we use the voxel grid as a still image of the environment to provide a fast intermediate model that computes the force feedback. It thus enables to simulate the environment at a slow rate (10-100Hz) while controlling the haptic device at the required frequency (about 1kHz).</EA>
<CC>001D02C03; 001D02D11</CC>
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<ED>Virtual reality; Fixed image; Feedback; Tactile sensitivity; Moving body; Deformable body; Voxel; Sphere; Segmentation; Collision detection</ED>
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<LO>INIST-Y 37951.354000117764174690</LO>
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Stable haptic interaction in a dynamic virtual environment

Stable haptic interaction in a dynamic virtual environment

Source :

Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri