Diego Ruspini PhD student,
Stanford University “Simulation
with contact for Haptic Interaction” We present
a general framework for the dynamic simulation and haptic exploration
of complex virtual environments. This work builds on previous developments
in simulation, haptics and operational space control. The relations
between the dynamic models used in simulation and the models originally
developed for robotic control are also presented. This framework has
been used to develop a simulator that can model complex interactions
between generalized articulated mechanical systems and permits direct
"hands-on" interaction with the virtual environment through
a haptic interface. |