Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models

被引:105
|
作者
Barbic, Jernej [1 ]
James, Doug L. [2 ]
机构
[1] MIT, Comp Sci & Artificial Intelligence Lab, Stata Ctr, Cambridge, MA 02139 USA
[2] Cornell Univ, Dept Comp Sci, Ithaca, NY 14853 USA
基金
美国国家科学基金会;
关键词
Haptics; 6-DoF; distributed contact; deformations; distance fields; VPS;
D O I
10.1109/ToH.2008.1
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high temporal rates, there is often insufficient time to resolve contact between geometrically complex objects. We propose a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU-based and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object and a signed-distance field for the other. This model is related to the Voxmap-PointShell (VPS) method, but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts. We demonstrate that stable haptic interactions can be achieved by point-sampling offset surfaces to input "polygon soup" geometry using particle repulsion. We introduce a multiresolution nested pointshell construction that permits level-of-detail contact forces and enables graceful degradation of contact in close-proximity scenarios. Parametrically deformed distance fields are proposed for contact between reduced deformable objects. We present several examples of 6-DoF haptic rendering of geometrically complex rigid and deformable objects in distributed contact at real-time kilohertz rates.
引用
收藏
页码:39 / 52
页数:14
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