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A force-feedback algorithm for adaptive articulated-body dynamics simulation (2007).
| Content Provider | CiteSeerX |
|---|---|
| Author | Morin, Sandy |
| Abstract | This paper introduces a novel algorithm for haptic interaction with an adaptive simulation of articulated-body dynamics. Our algorithm has a multi-threaded structure, which allows us to separate the force feedback computation from the adaptive dynamics simulation. The algorithm we propose for force feedback computation has a logarithmic complexity in the number of degrees of freedom in the articulated body. We have implemented our approach and tested it on a 3.0GHz dual processor Xeon PC. The preliminary benchmarks presented here demonstrate that our multi-threaded approach, as well as the logarithmic complexity of the force feedback computation, allow us to interact in a stable way with large articulated bodies that have complex dynamics (such as articulated-body models of proteins). Whatever the update rate of the adaptive simulation loop, the force feedback computation is performed in a few tens of microseconds. |
| File Format | |
| Publisher Date | 2007-01-01 |
| Access Restriction | Open |
| Subject Keyword | Adaptive Dynamic Simulation Update Rate Adaptive Simulation Multi-threaded Structure Novel Algorithm Haptic Interaction Logarithmic Complexity Force Feedback Computation Adaptive Articulated-body Dynamic Simulation Force-feedback Algorithm Articulated-body Dynamic Preliminary Benchmark Multi-threaded Approach Large Articulated Body Adaptive Simulation Loop Articulated-body Model Stable Way Dual Processor Xeon Pc Articulated Body |
| Content Type | Text |
| Resource Type | Article |
