Haptic display of dynamic systems subject to holonomic constraints

Adolfo Rodríguez*, Luis Basañez, Ed Colgate, Eric L. Faulring

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper presents a framework that enables an operator to haptically and visually interact with a simulated dynamic environment subject to virtual holonomic constraints. The framework combines a geometric constraint solver with a constrained dynamics simulation engine that controls an admittance-type haptic display. This system takes on relevant issues in the context of assisted teleoperated tasks, from providing an intuitive interface for creating and combining virtual constraints, to haptically displaying rigid motion constraints in simulated environments subject to desired inertial dynamics. Two experiments carried out using the Cobotic Hand Controller haptic display are presented.

Original languageEnglish (US)
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3002-3007
Number of pages6
DOIs
StatePublished - Dec 1 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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