6-DoF Haptic Rendering of Static Coulomb Friction Using Linear Programming
IEEE Transactions on Haptics 2018
People
- Danyong Zhao
University of Southern California - Yijing Li
University of Southern California - Jernej Barbič
University of Southern California
Project material
Citation
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Danyong Zhao, Yijing Li, Jernej Barbič:
6-DoF Haptic Rendering of Static Coulomb Friction Using Linear Programming, IEEE Transactions on Haptics, 11(3), 2018 BIBTEX
Abstract
Simulating frictional contact between objects with complex geometry is important for 6-DoF haptic rendering applications. For example, friction determines whether components can be navigated past narrow clearances in virtual assembly. State-of-the-art haptic rendering of frictional contact either augments penalty contact with frictional penalty springs, which do not prevent sliding and cannot render correct static friction, or uses constraint-based methods that have difficulties in meeting the stringent haptic loop computation time requirements for complex geometry. We give a 6-DoF Coulomb friction haptic rendering algorithm for distributed contact between rigid objects with complex geometry. Our algorithm is compatible with the fast point vs implicit function penalty-based contact method such as the Voxmap-PointShell method. Our algorithm incorporates the maximal dissipation principle and produces correct static friction, all the while inheriting the speed of penalty-based methods. We demonstrate our algorithm on several challenging 6-DoF haptic rendering examples.
Comments, questions to Jernej Barbič.Related projects
- 6-DoF Haptic Rendering using Continuous Collision Detection Between Points and Signed Distance Fields
- Continuous Collision Detection Between Points and Signed Distance Fields
- Adaptive 6-DoF Haptic Contact Stiffness Using the Gauss Map
- Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models
- Implict Multibody Penalty-based Distributed Contact
- Signed Distance Fields for Polygon Soup Meshes
Funding
- NSF (CAREER-1055035, IIS-1422869)
- Sloan Foundation
- Okawa Foundation
- USC Annerberg Graduate Fellowship to Danyong Zhao
- USC Annerberg Graduate Fellowship to Yijing Li
Disclaimer
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