A force-feedback algorithm for adaptive articulated-body dynamics simulation

被引：6

作者：

Morin, Sandy

Redon, Stephane

机构：

来源：

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年

关键词：

D O I：

10.1109/ROBOT.2007.363973

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a novel algorithm for haptic interaction with an adaptive simulation of articulated-body dynamics. Our algorithm has a multi-threaded structure, which allows us to separate the force feedback computation from the adaptive dynamics simulation. The algorithm we propose for force feedback computation has a logarithmic complexity in the number of degrees of freedom in the articulated body. We have implemented our approach and tested it on a 3.0GHz dual processor Xeon PC. The preliminary benchmarks presented here demonstrate that our multi-threaded approach, as well as the logarithmic complexity of the force feedback computation, allow us to interact in a stable way with large articulated bodies that have complex dynamics (such as articulated-body models of proteins). Whatever the update rate of the adaptive simulation loop, the force feedback computation is performed in a few tens of microseconds.

引用

页码：3245 / 3250

页数：6

共 10 条

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