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33: Haptic rendering and control

Adams RJ, Hannaford B (1999) Stable haptic interaction with virtual environments. IEEE Trans. on Robotics and Automation 15(3): 465-474

Artigas J, Preusche C, Hirzinger G (2004) Wave variables based bilateral control with a time delay model for space robot applications. Robotik 2004, VDI-Bericht 1841. Munich, Germany, 101-108

Barbiˇc J, James DL (2007) Time-critical distributed contact for 6-dof haptic rendering of adaptively sampled reduced deformable models. 2007 ACM SIGGRAPH/Eurographics Symposium on Computer Animation

Basdogan C, Srinivasan MA (2001) Haptic rendering in virtual environments. In: K Stanney (ed): Virtual Environments HandBook. Lawrence Erlbaum Associates Inc, 117-134

Burdea GC (1996) Force and touch feedback for virtual reality. Wiley Interscience

Cameron S (1997) Enhancing GJK: computing minimum and penetration distances between convex polyhedra. Int. Conf. Robotics & Automation

Chang B, Colgate J (1997) Real-time impulsebased simulation of rigid body systems for haptic display. Proceedings of the ASME International Mechanical Engineering Congress and Exhibition. Dallas, Texas, 1-8

Colgate JE, Brown JM (1994) Factors affecting the z-width of a haptic display. Proc. of the IEEE Int. Conf. on Robotics and Automation 3205-3210

Colgate JE, Schenkel G (1997) Passivity of a class of sampled data systems: Application to haptic interfaces. Journal of Robotic Systems 14: 37-47

Colgate JE, Stanley MC, Brown JM (1995) Issues in the haptic display of tool use. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol. 3: 140-145. Pittsburgh, PA

Constantinescu D, Salcudean SE, Croft EA (2005) Haptic rendering of rigid contacts using impulsive and penalty forces. IEEE Transactions on Robotics 21(3): 309-323

Corso J, Chhugani J, Okamura A (2002) Interactive haptic rendering of deformable surfaces based on the medial axis transform. Eurohaptics 92-98

Diolaiti N, Niemeyer G, Barbagli F, Salisbury JK (2006) Stability of haptic rendering: Discretization, quantization, time delay, and coulomb effects. IEEE Transactions on Robotics 22(2): 256-268

Gil JJ, Avello A, Rubio A, Flórez J (2004) Stability analysis of a 1 dof haptic interface using the routhhurwitz criterion. IEEE Transactions on Control Systems Technology 583-588

Gil JJ, Sánchez E, Hulin T, Preusche C, Hirzinger G (2007) Stability boundary for haptic rendering: Influence of damping and delay. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Rome, Italy

Gil JJ, Sánchez E, Hulin T, Preusche C, Hirzinger G (2008) Stability boundary for haptic rendering: Influence of damping and delay. J Computing and Information Science in Eng 8(3)

Gosline AH, Hayward V (2007) Time-domain passivity control of haptic interfaces with tunable damping hardware. World Haptics 2007 164-169

Gregory A, Mascarenhas A, Ehmann S, Lin M, Manocha D (2000) Six degree-of-freedom haptic display of polygonal models. In: T Ertl, B Hamann, A Varshney (eds) In: Proceedings Visualization 2000, 139-146

Hannaford B, Ryu JH (2001) Time-domain passivity control of haptic interfaces. Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 1863-1869

Hasegawa S, Fujii N (2003) Real-time rigid body simulation based on volumetric penalty method. In: 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 326-332

Hayward V (2006) Haptic synthesis. SYROCO 2006,8th Int. IFAC Symposium on Robot Control. Keynote paper, Bologna, Italy, 19-24

Hayward V, MacLean KE (2007) Do it yourself haptics, part-i. IEEE Robotics and Automation Magazine 14(4): 88-104

Hirzinger G, Sporer N, Albu-Schäffer A, Hähnle M, Krenn R, Pascucci A, Schedl M (2002) DLR’s torque-controlled light weight robot III - are we reaching the technological limits now? In: IEEE Int. Conf. Robot. Autom.. Washington D.C., 1710-1716

Ho C-H, Basdogan C, Srinivasan MA (1999) Efficient point-based rendering techniques for haptic display of virtual objects. Presence: Teleoper. Virtual Environ 8(5): 477-491

Hulin T, Gil JJ, Sánchez E, Preusche C, Hirzinger G (2006) Experimental stability analysis of a haptic system. Proc. of 3rd Int. Conf. on Enactive Interfaces. Montpellier, France

Hulin T, Preusche C, Hirzinger G (2006) Stability boundary and design criteria for haptic rendering of virtual walls. Proc. of the 8th Int. IFAC Symposium on Robot Control. Bologna, Italy

Hulin T, Preusche C, Hirzinger G (2006) Stability boundary for haptic rendering: Influence of physical damping. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). Beijing, China, 1570-1575

Iskakov R, Alin AS, Schedl M, Hirzinger G, Lopota V (2007) Influence of sensor quantization on the control performance of robotics actuators. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). San Diego, CA, 1085-1092

Iwata H, Noma H (1993) Volume haptization. IEEE Symposium on Research Frontiers in Virtual Reality, 16-23

Jung D, Gupta KK (1997) Octree-based hierarchical 628 Appendix distance maps for collision detection. Journal of Robotic Systems 14(11): 789-806

Kuchenbecker KJ, Fiene JP, Niemeyer G (2006) Improving contact realism through event-based haptic feedback. IEEE Transactions on Visualization and Computer Graphics 12(2): 219-230

Laycock SD, Day AM (2007) A survey of haptic rendering techniques. Computer Graphics Forum 26(1): 50-65

Lin MC, Canny JF (1991) A fast algorithm for incremental distance calculation. IEEE Int. Conf. on Robotics and Automation 1008-1014

Lin MC, Gottschalk S (1998) Collision detection between geometric models: a survey. Proc. of IMA Conference on Mathematics of Surfaces 37-56

MacLean KE, Hayward V (2008) Do it yourself haptics, part-ii. IEEE Robotics and Automation Magazine 15(1)

Massie TH, Salisbury JK (1994) The phantom haptic interface: A device for probing virtual objects. Proc. of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. Chicago, 295-302

McNeely WA, Puterbaugh KD, Troy JJ (1999) Six degree-of-freedom haptic rendering using voxel sampling. Proc. of SIGGRAPH 401-408

McNeely WA, Puterbaugh KD, Troy JJ (2006) Voxelbased 6-dof haptic rendering improvements. Haptics- e 3(7)

Mehling J, Colgate JE, Peshkin MA (2005) Increasing the impedance range of a haptic display by adding electrical damping. Proc. of the IEEE World Haptics Conference (WHC). Pisa, Italy, 257-262

Otaduy MA, Jain N, Sud A, Lin MC (2004) Haptic display of interaction between textured models. Visualization 297-304

Otaduy MA, Lin MC (2005) Stable and responsive six-degree-of freedom haptic manipulation using implicit integration. Worldhaptics Conf. 247-256

Pai DK, Doel Kvd, James DL, Lang J, Lloyd JE, Richmond JL, Yau SH (2001) Scanning physical interaction behavior of 3D objects. In: E Fiume (ed): SIGGRAPH 2001, Computer Graphics Proceedings. ACM Press/ACM SIGGRAPH

Pauly M, Pai DK, Guibas LJ (2004) Quasi-rigid objects in contact. Eurographics/ACM SIGGRAPH Symposium on Computer Animation

Preusche C, Koeppe R, Albu-Schäffer A, Hähnle M, Sporer N, Hirzinger G (2001) Design and haptic control of a 6 DoF force- feedback device. Workshop on Advances in Interactive Multimodal Telepresence Systems. Munich, Germany

Preusche C, Rettig A, Hirzinger G (2002) Assembly verification in digital mock-ups using force feedback. 12th Int. Symposium on Measurement and Control in Robotics Towards Advanced Robot Systems and Virtual Reality. Bourges, France

Renz M, Preusche C, Pätke M, Kriegel H-P, Hirzinger G (2001) Stable haptic interaction with virtual environments using an adapted Voxmap- Pointshell Algorithm. In: Proc. of Eurohaptics 2001, Birmingham, UK

Ruffaldi E, Morris D, Barbagli F, Salisbury K, Bergamasco M (2008) Voxel-based haptic rendering using implicit sphere trees. Proc. of the 2008 IEEE Haptics Symposium

Ruspini DC, Kolarov K, Khatib O (1997) The haptic display of complex graphical environments. Computer Graphics (SIGGRAPH 97 Conference Proceedings). ACM SIGGRAPH, Los Angeles, CA, 345-352

Ryu JH, Preusche C, Hannaford B, Hirzinger G (2005) Time domain passivity control with reference energy behavior. IEEE Transactions on Control Systems Technology 13(5): 737-742

Salcudean SE, Vlaar TD (1997) On the emulation of stiff walls and static friction with a magnetically levitated input/output device. ASME Journal of Dynamic Systems, Measurement and Control

Stramigioli S, Secchi C, van der Schaft AJ, Fantuzzi C (2005) Sampled data systems passivity and discrete port-Hamiltonian systems. IEEE Transactions on Robotics 21(4): 574-587

Thompson TV, Johnson DE, Cohen E (1997) Direct haptic rendering of sculptured models. Symposium on Interactive 3D Graphics 167-176

Trenkel S, Weller R, Zachmann G (2007) A benchmarking suite for static collision detection algorithms. In: V Skala (ed.) In: International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision (WSCG), Plzen, Czech Republic. Union Agency

Zilles CB, Salisbury JK (1995) A constraint-based god-object method for haptic display. Proc. IEEE/ RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vol. 3: 146-151. IEEE Computer Society