HapticV1, PascalFrancis, Corpus, bibRecord, 001194

Interactive dynamic simulation schemes for articulated bodies through haptic interface

Identifieur interne : 001194 ( PascalFrancis/Corpus ); précédent : 001193; suivant : 001195

Interactive dynamic simulation schemes for articulated bodies through haptic interface

Auteurs : Wookho Son ; Kyunghwan Kim ; Byungtae Jang ; Byungtae Choi

Source :

ETRI journal [ 1225-6463 ] ; 2003.

RBID : Pascal:03-0157055

Descripteurs français

Pascal (Inist)
- Interface haptique, Interface utilisateur, Mode conversationnel, Réalité virtuelle, Simulation système, Modèle dynamique, Estimation mouvement, Méthode orientée objet, Intelligence artificielle, Robotique, Evaluation performance, Trajectoire, Degré liberté, Système en ligne, Programme édition, Programmation orientée objet, Langage C++, Animation par ordinateur, Simulation numérique, Résultat expérimental, Simulation dynamique conversationnelle.

English descriptors

KwdEn :
- Artificial intelligence, C++ language, Computer animation, Dynamic model, Editing routine, Experimental result, Freedom degree, Haptic interfaces, Interactive dynamic simulation, Interactive mode, Motion estimation, Numerical simulation, Object oriented programming, Object-oriented methods, Online systems, Performance evaluation, Robotics, System simulation, Trajectory, User interface, Virtual reality.

Abstract

This paper describes interactive dynamic simulation schemes for articulated bodies in virtual environments, where user interaction is allowed through a haptic interface. We incorporated these schemes into our dynamic simulator I-GMS, which was developed in an object-oriented framework for simulating motions of free bodies and complex linkages, such as those needed for robotic systems or human body simulation. User interaction is achieved by performing push and pull operations with the PHANToM haptic device, which runs as an integrated part of I-GMS. We use both forward and inverse dynamics of articulated bodies for the haptic interaction by the push and pull operations, respectively. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for 6-dof (degrees of freedom) articulated bodies.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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Format Inist (serveur)

NO :	PASCAL 03-0157055 INIST
ET :	Interactive dynamic simulation schemes for articulated bodies through haptic interface
AU :	SON (Wookho); KIM (Kyunghwan); JANG (Byungtae); CHOI (Byungtae)
AF :	Augmented Reality Research Team, ETRI/Daejeon/Corée, République de (1 aut., 3 aut.); Wooshin Mechatronics Co., Ltd./Seoul/Corée, République de (2 aut.); 3D Graphics Research Team, ETRI/Daejeon/Corée, République de (4 aut.)
DT :	Publication en série; Niveau analytique
SO :	ETRI journal; ISSN 1225-6463; Corée, République de; Da. 2003; Vol. 25; No. 1; Pp. 25-33; Bibl. 15 ref.
LA :	Anglais
EA :	This paper describes interactive dynamic simulation schemes for articulated bodies in virtual environments, where user interaction is allowed through a haptic interface. We incorporated these schemes into our dynamic simulator I-GMS, which was developed in an object-oriented framework for simulating motions of free bodies and complex linkages, such as those needed for robotic systems or human body simulation. User interaction is achieved by performing push and pull operations with the PHANToM haptic device, which runs as an integrated part of I-GMS. We use both forward and inverse dynamics of articulated bodies for the haptic interaction by the push and pull operations, respectively. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for 6-dof (degrees of freedom) articulated bodies.
CC :	001D03J03; 001D02D11; 001D02B08
FD :	Interface haptique; Interface utilisateur; Mode conversationnel; Réalité virtuelle; Simulation système; Modèle dynamique; Estimation mouvement; Méthode orientée objet; Intelligence artificielle; Robotique; Evaluation performance; Trajectoire; Degré liberté; Système en ligne; Programme édition; Programmation orientée objet; Langage C++; Animation par ordinateur; Simulation numérique; Résultat expérimental; Simulation dynamique conversationnelle
ED :	Haptic interfaces; User interface; Interactive mode; Virtual reality; System simulation; Dynamic model; Motion estimation; Object-oriented methods; Artificial intelligence; Robotics; Performance evaluation; Trajectory; Freedom degree; Online systems; Editing routine; Object oriented programming; C++ language; Computer animation; Numerical simulation; Experimental result; Interactive dynamic simulation
SD :	Interfase usuario; Modo conversacional; Realidad virtual; Simulación sistema; Modelo dinámico; Estimación movimiento; Inteligencia artificial; Robótica; Evaluación prestación; Trayectoria; Grado libertad; Programa edición; Lenguaje C++; Animación por computador; Simulación numérica; Resultado experimental
LO :	INIST-26179.354000104077740040
ID :	03-0157055

Links to Exploration step

Pascal:03-0157055

Le document en format XML

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<s5>10</s5>
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<s5>10</s5>
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<s5>11</s5>
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<s5>11</s5>
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<s5>12</s5>
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<s5>12</s5>
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<s5>15</s5>
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<s5>15</s5>
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<s5>16</s5>
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<s5>18</s5>
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<s5>18</s5>
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<s5>20</s5>
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<s4>CD</s4>
<s5>96</s5>
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<fC03 i1="21" i2="X" l="ENG"><s0>Interactive dynamic simulation</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fN21><s1>090</s1>
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<server><NO>PASCAL 03-0157055 INIST</NO>
<ET>Interactive dynamic simulation schemes for articulated bodies through haptic interface</ET>
<AU>SON (Wookho); KIM (Kyunghwan); JANG (Byungtae); CHOI (Byungtae)</AU>
<AF>Augmented Reality Research Team, ETRI/Daejeon/Corée, République de (1 aut., 3 aut.); Wooshin Mechatronics Co., Ltd./Seoul/Corée, République de (2 aut.); 3D Graphics Research Team, ETRI/Daejeon/Corée, République de (4 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>ETRI journal; ISSN 1225-6463; Corée, République de; Da. 2003; Vol. 25; No. 1; Pp. 25-33; Bibl. 15 ref.</SO>
<LA>Anglais</LA>
<EA>This paper describes interactive dynamic simulation schemes for articulated bodies in virtual environments, where user interaction is allowed through a haptic interface. We incorporated these schemes into our dynamic simulator I-GMS, which was developed in an object-oriented framework for simulating motions of free bodies and complex linkages, such as those needed for robotic systems or human body simulation. User interaction is achieved by performing push and pull operations with the PHANToM haptic device, which runs as an integrated part of I-GMS. We use both forward and inverse dynamics of articulated bodies for the haptic interaction by the push and pull operations, respectively. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for 6-dof (degrees of freedom) articulated bodies.</EA>
<CC>001D03J03; 001D02D11; 001D02B08</CC>
<FD>Interface haptique; Interface utilisateur; Mode conversationnel; Réalité virtuelle; Simulation système; Modèle dynamique; Estimation mouvement; Méthode orientée objet; Intelligence artificielle; Robotique; Evaluation performance; Trajectoire; Degré liberté; Système en ligne; Programme édition; Programmation orientée objet; Langage C++; Animation par ordinateur; Simulation numérique; Résultat expérimental; Simulation dynamique conversationnelle</FD>
<ED>Haptic interfaces; User interface; Interactive mode; Virtual reality; System simulation; Dynamic model; Motion estimation; Object-oriented methods; Artificial intelligence; Robotics; Performance evaluation; Trajectory; Freedom degree; Online systems; Editing routine; Object oriented programming; C++ language; Computer animation; Numerical simulation; Experimental result; Interactive dynamic simulation</ED>
<SD>Interfase usuario; Modo conversacional; Realidad virtual; Simulación sistema; Modelo dinámico; Estimación movimiento; Inteligencia artificial; Robótica; Evaluación prestación; Trayectoria; Grado libertad; Programa edición; Lenguaje C++; Animación por computador; Simulación numérica; Resultado experimental</SD>
<LO>INIST-26179.354000104077740040</LO>
<ID>03-0157055</ID>
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Interactive dynamic simulation schemes for articulated bodies through haptic interface

Interactive dynamic simulation schemes for articulated bodies through haptic interface

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