{"title":"拉格朗日虚拟代理的被动触觉绘制与控制","authors":"Dongjun Lee, Myungsin Kim, T. Qiu","doi":"10.1109/IROS.2012.6385911","DOIUrl":null,"url":null,"abstract":"We consider the problem of passive haptic rendering and interfacing of multiple degree-of-freedom (DOF) virtual proxy (VP), which has nonlinear Lagrangian dynamics and interacts with deformable virtual objects. For this, we solve the followings: 1) how to extend our recently-proposed non-iterative passive mechanical integrator (NPMI [1]) to simulate this nonlinear Lagrangian VP haptically-fast and discrete-time passively; 2) how to utilize virtual coupling technique to interface this NPMI-simulated VP and haptic devices while guaranteeing (sampled-data) passivity; and 3) how to passively render the interaction between VP and linear visco-elastic deformable virtual objects, while enhancing passivity at contact-on/off switchings. Some experimental results are also presented to support theory.","PeriodicalId":6358,"journal":{"name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"33 1","pages":"64-69"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Passive haptic rendering and control of Lagrangian virtual proxy\",\"authors\":\"Dongjun Lee, Myungsin Kim, T. Qiu\",\"doi\":\"10.1109/IROS.2012.6385911\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We consider the problem of passive haptic rendering and interfacing of multiple degree-of-freedom (DOF) virtual proxy (VP), which has nonlinear Lagrangian dynamics and interacts with deformable virtual objects. For this, we solve the followings: 1) how to extend our recently-proposed non-iterative passive mechanical integrator (NPMI [1]) to simulate this nonlinear Lagrangian VP haptically-fast and discrete-time passively; 2) how to utilize virtual coupling technique to interface this NPMI-simulated VP and haptic devices while guaranteeing (sampled-data) passivity; and 3) how to passively render the interaction between VP and linear visco-elastic deformable virtual objects, while enhancing passivity at contact-on/off switchings. Some experimental results are also presented to support theory.\",\"PeriodicalId\":6358,\"journal\":{\"name\":\"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"volume\":\"33 1\",\"pages\":\"64-69\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2012.6385911\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2012.6385911","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Passive haptic rendering and control of Lagrangian virtual proxy
We consider the problem of passive haptic rendering and interfacing of multiple degree-of-freedom (DOF) virtual proxy (VP), which has nonlinear Lagrangian dynamics and interacts with deformable virtual objects. For this, we solve the followings: 1) how to extend our recently-proposed non-iterative passive mechanical integrator (NPMI [1]) to simulate this nonlinear Lagrangian VP haptically-fast and discrete-time passively; 2) how to utilize virtual coupling technique to interface this NPMI-simulated VP and haptic devices while guaranteeing (sampled-data) passivity; and 3) how to passively render the interaction between VP and linear visco-elastic deformable virtual objects, while enhancing passivity at contact-on/off switchings. Some experimental results are also presented to support theory.