NDLI: Haptic Assembly and Disassembly Task Assistance using Interactive Path Planning

Content Provider	IEEE Xplore Digital Library
Author	Ladeveze, N. Fourquet, J.Y. Puel, B. Taix, M.
Copyright Year	2009
Description	Author affiliation: Alstom Transport, e-mail: bernard. puel@transport.alstom.com (Puel, B.) \|\| CNRS; LAAS; 7, av. du Colonel Roche, F-31077 Toulouse, France; Université de Toulouse; UPS, INSA, INP, ISAE; LAAS; F-31077 Toulouse, France, e-mail: taix@laas.fr (Taix, M.) \|\| Ecole Nationale d'Ingénieurs de Tarbes - Laboratoire Genie Production; ENIT-LGP Université de Toulouse Alstom Transport, 47, av. d'Azereix BP 1629 65016 Tarbes CEDEX, France, e-mail: nladeveze@enit.fr (Ladeveze, N.) \|\| Ecole Nationale d'Ingénieurs de Tarbes - Laboratoire Genie Production; ENIT-LGP Université de Toulouse, 47, av. d'Azereix BP 1629 65016 Tarbes CEDEX, France, e-mail: fourquet@enit.fr (Fourquet, J.Y.)
Abstract	This paper describes a global interactive scheme including fast motion planning and real time guiding force for 3D CAD part assembly or disassembly tasks. For real time purpose, the motion planner is divided into different steps. First, a preliminary workspace discretization is done without time limitations at the beginning of the simulation. Then, using those computed data, a second part tries to find a collision free path in real time. Once the path is found, an haptic artificial force is applied constraining the user on the path. The user can then influence the planner by not following the path and automatically order a new path research. The performance of this haptic assistance is measured on a test simulation based on an ALSTOM power components assembly simulation.
Starting Page	19
Ending Page	25
File Size	8666841
Page Count	7
File Format	PDF
ISBN	9781424439430
ISSN	10878270
DOI	10.1109/VR.2009.4810993
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Assembly Path planning Virtual reality Computational modeling Testing Layout Motion planning Computer graphics Design automation J.2 [Physical Sciences And Engineering]: Engineering¿ Virtual Reality Octree A star Rapidly Exploring Deterministic Tree Haptics I.2.9 [Artificial Intelligence]: Robotics¿Workcell organization and planning I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism - Virtual reality¿ H.5.2 [User Interfaces]: Haptic I/O¿ [J.6]: Computer-Aided Design¿ Computer Aided Design
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in