Interactive dynamic simulation using haptic interaction Conference Paper

abstract

• This paper describes an interactive dynamic simulator for virtual environments which allows user interaction via a haptic interface. The interactive simulation is performed in our testbed dynamic simulator I-GMS, which has been developed in an object-oriented framework for simulating motions of free bodies and complex linkages such as those needed for robotic systems or human body simulation. User-interaction is achieved by performing push and pull operations via the PHANToM haptic device which runs as an integrated part of I-GMS. We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories for a 6-dof robot manipulator.

name of conference

• Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)

authors

• Amato, Nancy

published proceedings

• 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS

author list (cited authors)

• Son, W., Kim, K., Amato, N. M., & Trinkle, J. C.

citation count

• 3

complete list of authors

• Son, W||Kim, K||Amato, NM||Trinkle, JC

publication date

• January 2000

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• Dynamic Simulation
• Haptic Interaction
• Human Body Model
• Interactive Simulation
• Object-oriented Design

Digital Object Identifier (DOI)

• 10.1109/iros.2000.894596

International Standard Book Number (ISBN) 10

• 0-7803-6349-3

start page

• 145

end page

• 150

volume

• 1

URL

• http://dx.doi.org/10.1109/iros.2000.894596