IEEE World Haptics Conference 2013,
The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium
Daejeon Convention Center, Daejeon, Korea / April 14-17, 2013
Young J. Kim, firstname.lastname@example.org, Ewha Womans University, Korea
Dangxiao Wang, email@example.com, Beihang University, China
Jeha Ryu, firstname.lastname@example.org, GIST, Korea
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.
Intermediate to advanced developers and end users who need to create efficient implementations for haptic rendering and haptic applications.
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)
● 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
IEEE WHC 2013 Secretariat
5F, Daehan Bldg., #1018, Dunsan-dong, Seo-gu, Daejeon 302-120, South Korea
Email: email@example.com / Web: www.haptics2013.org
Tel: +82-42-472-7460/ Fax: +82-42-472-7459