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Related Experiment Videos

A generalized framework for interactive dynamic simulation for MultiRigid bodies.

Wookho Son1, Kyunghwan Kim, Nancy M Amato

  • 1Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350, Korea. whson@etri.re.kr

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|September 21, 2004
PubMed
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This study introduces the Interactive Generalized Motion Simulator (I-GMS), a versatile tool for simulating complex multi-rigid-body dynamics with contact. It enables real-time user interaction for dynamic simulation tasks.

Area of Science:

  • Robotics and Virtual Environments
  • Computational Physics
  • Multibody Dynamics

Background:

  • Simulating complex multibody systems with contact interactions is computationally challenging.
  • Existing dynamic simulators often lack generality or real-time interactivity.
  • Accurate simulation of frictional contact, especially with Coulomb friction, presents significant challenges.

Purpose of the Study:

  • To present a generalized framework for dynamic simulation of multibody systems with contact interaction.
  • To introduce the Interactive Generalized Motion Simulator (I-GMS) prototype.
  • To enable intuitive user interaction within dynamic simulations via haptic feedback.

Main Methods:

  • Developed I-GMS using an object-oriented framework for broad system support.

Related Experiment Videos

  • Integrated a PHANToM haptic device for real-time user manipulation and interactive simulation.
  • Employed a hybrid impulse-based scheme to adaptively handle frictional contact, avoiding non-existent solutions.

    • Main Results:

    • Demonstrated the simulator's generality by supporting diverse rigid-body systems.
    • Showcased interactive dynamic simulation capabilities through haptic push-and-pull operations.
    • Successfully simulated internal contacts with friction using the adaptive hybrid scheme.

    Conclusions:

    • I-GMS provides a generalized and interactive framework for dynamic simulation.
    • The hybrid contact scheme effectively addresses challenges in simulating frictional contacts.
    • The system enables intuitive user control and on-line trajectory editing for complex articulated structures.