Haptic-based interactive path planning for a virtual robot arm

Chen, C. J.; Ong, S. K.; Nee, A. Y. C.; Zhou, Yi

doi:10.1007/s12008-010-0088-2

Cited by 25 publications

(11 citation statements)

References 20 publications

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“…Several authors have developed VAPs using different assembly techniques, such as feature matching recognition (Iacob et al, 2011;Sato et al, 2011), constrained based modelling Gutiérrez et al, 2010;Tching et al, 2010), PBM (Gupta et al, 1997;Lim et al, 2007;Garbaya and Zaldivar-Colado, 2009;Chamaret et al, 2010;Aleotti and Caselli, 2011;Xia et al, 2012), import of CAD assembly constraints (Jayaram et al, 1999;Chen et al, 2010;Cheng-jun et al, 2010), and the use of haptics (Ritchie et al, 2008b;Bordegoni et al, 2009;Ladeveze et al, 2010;Liu et al, 2010;Ji et al, 2011;Christiand and Yoon, 2011). Some of these systems are summarized in Table I.…”

Section: Virtual Assembly Systemsmentioning

confidence: 99%

A new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly

González-Badillo

Medellín-Castillo

Lim

et al. 2014

Assembly Automation

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is an open access repository that collects the work of Arts et Métiers ParisTech researchers and makes it freely available over the web where possible.This is an author-deposited version published in: http://sam.ensam.eu Handle ID: .http://hdl.handle.net/10985/10027 To cite this version :Germanico GONZALEZ-BADILLO, Hugo I. MEDELLIN-CASTILLO, Theodore LIM, James M. RITCHIE, Raymond C.W. SUNG, Samir GARBAYA -A new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly -Assembly AutomationVol. 34, n°2, p.128-140 -2014 Any correspondence concerning this service should be sent to the repository Administrator : archiveouverte@ensam.eu Assembly AutomationA new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly Germanico Gonzalez-Badillo Hugo I. Medellin-Castillo Theodore Lim James M. Ritchie Raymond C.W. Sung Samir Garbaya Article information:To cite this document: Germanico Gonzalez-Badillo Hugo I. Medellin-Castillo Theodore Lim James M. Ritchie Raymond C.W. Sung Samir Garbaya , Users who downloaded this article also downloaded:Germanico Gonzalez-Badillo, Hugo Medellin-Castillo, Theodore Lim, James Ritchie, Samir Garbaya, (2014),"The development of a physics and constraint-based haptic virtual assembly system", Assembly Automation, Vol. Access to this document was granted through an Emerald subscription provided by All users group For AuthorsIf you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation.*Related content and download information correct at time of download. Abstract Purpose -In this study, a new methodology to evaluate the performance of physics simulation engines (PSEs) when used in haptic virtual assembly applications is proposed. This methodology can be used to assess the performance of any physics engine. To prove the feasibility of the proposed methodology, two-third party PSEs -Bullet and PhysXtm -were evaluated. The paper aims to discuss these issues. Design/methodology/approach -Eight assembly tests comprising variable geometric and dynamic complexity were conducted. The strengths and weaknesses of each simulation engine for haptic virtual assembly were identified by measuring different parameters such as task completion time, influence of...

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Section: Virtual Assembly Systemsmentioning

confidence: 99%

A new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly

González-Badillo

Medellín-Castillo

Lim

et al. 2014

Assembly Automation

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“…8). Phantom Omni force feedback device has been put to practical use for wide range of purpose to list few of them, for medical training simulating purpose [9], product evaluation [2][3][4], as a virtual robot arm to interact with virtual prototypes in a virtual assembly environment by providing kinematic and dynamic models, and defining the properties [27].…”

Section: The Phantom Omni Haptic Devicementioning

confidence: 99%

A case study of phantom omni force feedback device for virtual product design

Teklemariam

Das

2015

Int J Interact Des Manuf

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Research towards a methodology which helps designers/engineers in conceptualizing, facilitating participatory Design and validating products during designing and development process becoming more important with the aim of reducing the lengthy process and errors that crops up during the process. In this kind of situation it is felt that Virtual Reality-Haptic is among the solutions to cater repeated physical prototyping as well as for rapid prototyping and reduces related cost. This integrated system of virtual reality-Haptic feedback interaction may enhance the usability evaluation of virtual products. Therefore, emphasis of this paper is to study the virtual and augmented reality, Haptics working principles and their advantage towards product evaluation. Through this study it was possible to understand the working principles of Haptic device and write codes/program using OpenHaptics Software development Toolkit in order to manipulate the virtual object which was prepared through CAD Software (in this research CATIA was used), thereafter, experimental setup with full system were established. After preparing questionnaires and virtual reality-haptic system, participants were allowed to manipulate the virtual object via phantom Omni haptic feedback device and compare the physical properties of different virtual objects. Finally collected data were analyzed and drawn a result that revealed the potential of Virtual Reality-Haptic system for realizing the virtual objects surface texture, size, shape, and weight.

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“…They defined a semi-automatic path planning without a real feedback loop between user's motion and motion planning method. [7] used potential field method to guide user's control on the virtual robot through a haptic device. This approach provides little information to the user because of the many local minima induced by the force fields in complex environment.…”

Section: Related Workmentioning

confidence: 99%

Human Interaction with Motion Planning Algorithm

Taïx

Flavigne

Ferre³

2012

J Intell Robot Syst

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This paper presents an interactive motion planning system to compute free collision motion in a numerical model. The system is based on interaction between a user and a motion planning algorithm. On one hand the user moves the object with an interactive device and on the other hand a motion planning algorithm searches a solution in the configuration space. The interaction aims at improving the guidance of an operator during a robot motion task in a virtual environment with the help of an automatic path planning algorithm. Existing works use a two-step decomposition which limits the interaction between the user and the ongoing process. We propose a modification of a classic motion planning method, the Rapidly-exploring Random Tree to build an Interactive-RRT. This method is based on exchanging pseudo-forces between the algorithm and the user, and on data gathering (labels) from the virtual scene. Examples are shown to illustrate the Interactive motion planning system with different interactive devices (space mouse and haptic arm). We analyze the influence of the user's dexterity to find a solution depending on various parameters of the algorithm and we show how we can adapt these parameters to a user.

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Haptic-based interactive path planning for a virtual robot arm

Cited by 25 publications

References 20 publications

A new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly

A new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly

A case study of phantom omni force feedback device for virtual product design

Human Interaction with Motion Planning Algorithm

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