Haptic interaction with constrained dynamic systems

Eric L. Faulring; Kevin M. Lynch; J. Edward Colgate; Michael A. Peshkin

doi:10.1109/ROBOT.2005.1570481

Haptic interaction with constrained dynamic systems

Eric L. Faulring^*, Kevin M. Lynch, J. Edward Colgate, Michael A. Peshkin

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Scopus citations

Abstract

In this paper we are concerned with allowing the operator of a haptic display to interact with virtual systems having significant inertial dynamics and realistic constraints. We review the mathematical structure arising from the kinetic energy metric, required to create a virtual dynamics simulation consisting of rigid-body dynamics along with holonomic and/or nonholonomic motion constraints. We develop an admittance controller composed of feedforward and feedback terms, while preserving the integrity of the intended virtual dynamics simulation. This controller is implemented on the Cobotic Hand Controller, an admittance-type haptic display, and two examples are discussed.

Original language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	2458-2464
Number of pages	7
DOIs	https://doi.org/10.1109/ROBOT.2005.1570481
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

Keywords

Cobots
Haptics
Hybrid control
Rigid-body dynamics
Virtual surfaces

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570481

Fingerprint Dive into the research topics of 'Haptic interaction with constrained dynamic systems'. Together they form a unique fingerprint.

Cite this

@inproceedings{49e0bff25b2b4e7f91f487cbfa730a38,

title = "Haptic interaction with constrained dynamic systems",

abstract = "In this paper we are concerned with allowing the operator of a haptic display to interact with virtual systems having significant inertial dynamics and realistic constraints. We review the mathematical structure arising from the kinetic energy metric, required to create a virtual dynamics simulation consisting of rigid-body dynamics along with holonomic and/or nonholonomic motion constraints. We develop an admittance controller composed of feedforward and feedback terms, while preserving the integrity of the intended virtual dynamics simulation. This controller is implemented on the Cobotic Hand Controller, an admittance-type haptic display, and two examples are discussed.",

keywords = "Cobots, Haptics, Hybrid control, Rigid-body dynamics, Virtual surfaces",

author = "Faulring, {Eric L.} and Lynch, {Kevin M.} and Colgate, {J. Edward} and Peshkin, {Michael A.}",

year = "2005",

doi = "10.1109/ROBOT.2005.1570481",

language = "English (US)",

isbn = "078038914X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "2458--2464",

booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",

}

Faulring, EL, Lynch, KM , Colgate, JE & Peshkin, MA 2005, Haptic interaction with constrained dynamic systems. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570481, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 2458-2464, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570481

Haptic interaction with constrained dynamic systems. / Faulring, Eric L.; Lynch, Kevin M.; Colgate, J. Edward ; Peshkin, Michael A.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 2458-2464 1570481 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Haptic interaction with constrained dynamic systems

AU - Faulring, Eric L.

AU - Lynch, Kevin M.

AU - Colgate, J. Edward

AU - Peshkin, Michael A.

PY - 2005

Y1 - 2005

N2 - In this paper we are concerned with allowing the operator of a haptic display to interact with virtual systems having significant inertial dynamics and realistic constraints. We review the mathematical structure arising from the kinetic energy metric, required to create a virtual dynamics simulation consisting of rigid-body dynamics along with holonomic and/or nonholonomic motion constraints. We develop an admittance controller composed of feedforward and feedback terms, while preserving the integrity of the intended virtual dynamics simulation. This controller is implemented on the Cobotic Hand Controller, an admittance-type haptic display, and two examples are discussed.

AB - In this paper we are concerned with allowing the operator of a haptic display to interact with virtual systems having significant inertial dynamics and realistic constraints. We review the mathematical structure arising from the kinetic energy metric, required to create a virtual dynamics simulation consisting of rigid-body dynamics along with holonomic and/or nonholonomic motion constraints. We develop an admittance controller composed of feedforward and feedback terms, while preserving the integrity of the intended virtual dynamics simulation. This controller is implemented on the Cobotic Hand Controller, an admittance-type haptic display, and two examples are discussed.

KW - Cobots

KW - Haptics

KW - Hybrid control

KW - Rigid-body dynamics

KW - Virtual surfaces

UR - http://www.scopus.com/inward/record.url?scp=33745772174&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33745772174&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2005.1570481

DO - 10.1109/ROBOT.2005.1570481

M3 - Conference contribution

AN - SCOPUS:33745772174

SN - 078038914X

SN - 9780780389144

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 2458

EP - 2464

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

T2 - 2005 IEEE International Conference on Robotics and Automation

Y2 - 18 April 2005 through 22 April 2005

ER -