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

Sandy Morin 1 Stephane Redon 1
1 I3D - 3 dimensional interaction
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : 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.
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Communication dans un congrès
Robotics and Automation, 2007 IEEE International Conference on, Apr 2007, Roma, Italy. pp.3245--3250, 2007, <10.1109/ROBOT.2007.363973>
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Sandy Morin, Stephane Redon. A force-feedback algorithm for adaptive articulated-body dynamics simulation. Robotics and Automation, 2007 IEEE International Conference on, Apr 2007, Roma, Italy. pp.3245--3250, 2007, <10.1109/ROBOT.2007.363973>. <hal-01148380>

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