Haptic display of dynamic systems subject to holonomic constraints

Abstract— In this paper, we present a framework that enables an operator to haptically and visually interact with a dynamic simulation subject to virtual holonomic constraints. The framework interfaces a geometric constraint solver with a constrained dynamics simulation engine that controls an admittance-type haptic display. This system takes on relevant issues in the context of assisted teleoperated tasks, from providing an intuitive interface for creating and combining virtual constraints, to haptically displaying rigid motion constraints in simulated environments subject to desired inertial dynamics. Two experiments carried out using the Cobotic Hand Controller haptic display are presented.

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Adolfo Rodriguez, Luis Basañez, J. Edward Colgate, Eric L. Faulring
• Keywords: Admittance-type Haptic Display, Haptic Display, IROS 2008, Robotics, Virtual Holonomic Constraints