IEEE World Haptics Conference 2013,

                      The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium

Daejeon Convention Center, Daejeon, Korea / April 14-17, 2013

Tutorial:Recent advance in collision/contact computation for haptic rendering

Date:  9am~12pm, April 14th, 2013

1. Organizers:

Young J. Kim,, Ewha Womans University, Korea

Dangxiao Wang,, Beihang University, China

Jeha Ryu,, GIST, Korea

2. Duration:

Half day

3. Objectives:

Collision and contact queries are the essential part of haptic rendering, and they often become the computational bottleneck of haptic rendering. However, it is quite challenging for beginners to keep up with all the published papers and evolving rendering systems for collision detection and contact queries. This tutorial presents to haptic researchers an overview of existing techniques, practical solutions, and how the field will change in the coming years. It explains recent developments designed to achieve interactive performance for haptic applications using both object-space and image-space approaches. It also covers how these collision/contact queries can be integrated into challenging three- and six-degree-of-freedom haptic rendering using penalty- and constraint-based techniques. 

4. Intended audience:

Intermediate to advanced developers and end users who need to create efficient implementations for haptic rendering and haptic applications. 

5. Technical outline:

This half-day tutorial plans to cover the following topics:


Introduction (Young J. Kim)

-        Talk about the general overview of collision/contact queries

-        How these queries are relevant to haptic rendering context?

-        What are the challenges to design efficient collision/contact algorithms?



Introduction Penetration depth queries under different metrics for penalty-based haptics (Young J. Kim)

-        Motivation to solve non-penetration constraints in haptics

-        Method for translational penetration queries for rigid models

-        Method for generalized penetration queries for rigid and articulated models


Sphere-tree based collision detection for constraint-based 6-DOF haptic rendering(Dangxiao Wang)

-         Introduction of a novel constraint-based 6-DOF haptic rendering method, i.e. configuration-based optimization method

-         A contact constraint-prediction method based on sphere-tree models (CCP method)

-         A continuous collision detection method using sphere-tree models (SCCD method)

-         Validation of sphere-tree based collision detection methods in a dental simulation system

Depth image-based haptic rendering (Jeha Ryu)

      - Introduction to depth image-based haptic rendering

      - LOMI (Local Occupancy Map Instance) based 3-DOF haptic rendering

      - Fast, preliminary collision detection using depth cube for 6-DOF haptic rendering

      - Accurate collision detection using Global Occupancy Map Instance (GOMI) for 6-DOF haptic rendering

       - Stability guaranteed haptic interaction for any haptic rendering rate.

Discussion and Q&A (All)

6. References:

  1. Changsoo Je, Min Tang, Youngeun Lee, Minkyoung Lee, Young J. Kim, PolyDepth: Real-time Penetration Depth Computation using Iterative Contact-Space Projection, ACM Transactions on Graphics, 31(3), Jan 2012

  1. M. Tang and Y. J. Kim. PolyDepth++: Interactive generalized penetration depth computation for rigid and articulated models using object norm. Tech. Rep. CSE-TR-2012-01, Ewha Womans University, Seoul, Korea, 2012

  1. M. Tang, Y. J. Kim, and D. Manocha. C2A: controlled conservative advancement for continuous collision detection of polygonal models. In IEEE International Conference on Robotics and Automation, pages 356–361, 2009.

  1. Xinyu Zhang, Stephane Redon, Minkyoung Lee, Young J. Kim, Continuous collision detection for articulated models using Taylor models and temporal culling, ACM Transactions on Graphics, 26(3), Aug 2007

  1. Y. Li, M. Tang, S. Zhang, Y. J. Kim, Six-degree-of-freedom haptic rendering using translational and generalized penetration depth computation, IEEE World Haptics Conference, April 2013

  1. D. Wang, S. Liu, X. Zhang, Y. Zhang and J. Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering for Fine Manipulation, IEEE Transaction on Haptics, Accepted

  1. D. Wang, S. Liu, J. Xiao, J. Hou, Y. Zhang. Six Degree-of-Freedom Haptic Simulation of Pathological Changes in Periodontal Operations. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012). Vilamoura, Algarve, Portugal October 7-12, 2012

  1. D. Wang, S. Liu, X. Zhang, Y. Zhang and J. Xiao, Six-degree-of-freedom Haptic Simulation of Organ Deformation in Dental Operations, IEEE International Conference on Robotics and Automation, ICRA 2012, May 14-18, 2012, St. Paul, Minnesota, USA, pp. 1050-1056.

  1. Xin Zhang, Dangxiao Wang, Yuru Zhang and Jing Xiao, Configuration-based Optimization for Six Degree-of-Freedom Haptic Rendering Using Sphere-trees, Proc. of the IEEE International conference on Intelligent robot and systems, IROS 2011, September 25-30, 2011, San Francisco, California, U.S. , pp. 2602-2607.

      Jong-Phil Kim, Beom-Chan Lee, Hyungon Kim, Jaeha Kim, and Jeha Ryu,“Accurate and Efficient Hybrid CPU/GPU-based 3-DOF Haptic Rendering for Highly Complex Hybrid Static Virtual Environments,” PRESENCE: Teleoperations and Virtual Environments, Vol. 18, No. 5, pp. 340-360, Oct. 2009

      Jaeha Kim, Jong-Phil Kim, Changhoon Seo, and Jeha Ryu,“Directionally Transparent Energy Bounding Approach for Multiple Degree-of-Freedom Haptic Interaction,” International Journal of Control, Automation, and Systems, Vol. 8, No. 2, pp. 352-360, March, 2010

      Beom-Chan Lee, Jong-Phil Kim, Jeha Ryu, “K-TouchTM Haptic API for Various Datasets”, ACM SIGGRAPH 2006, research poster

      Beom-Chan Lee, Jong-Phil Kim, Jeha Ryu, “Development of K-TouchTM Haptic API for Various Datasets”, EuroHaptics 2006, pp. 537-541, 3-6 July 2006, Paris France

Last update: March 5th, 2013

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