| Volume 23 Issue 2 - Publication Date: 1 February 2004 |
| |
| Human-Centered Robotics and Interactive
Haptic Simulation |
| |
| Oussama Khatib Robotics
Laboratory, Department of Computer Science, Stanford University, Stanford,
CA 94305, USA, Oliver Brock Laboratory for Perceptual Robotics,
Department of Computer Science, University of Massachusetts, Amherst, MA
01003, USA, Kyong-Sok Chang, Diego Ruspini, Luis Sentis and Sriram
Viji Robotics Laboratory, Department of Computer Science, Stanford
University, Stanford, CA 94305, USA |
| |
| A new field of robotics
is emerging. Robots are today moving towards applications beyond the structured
environment of a manufacturing plant. They are making their way into the
everyday world that people inhabit. This paper focuses on models, strategies,
and algorithms associated with the autonomous behaviors needed for robots
to work, assist, and cooperate with humans. In addition to the new capabilities
they bring to the physical robot, these models and algorithms and, more
generally, the body of developments in robotics is having a significant
impact on the virtual world. Haptic interaction with an accurate dynamic
simulation provides unique insights into the real world behaviors of physical
systems. The potential applications of this emerging technology include
virtual prototyping, animation, surgery, robotics, cooperative design,
and education among many others. Haptics is one area where the computational
requirement associated with the resolution in real time of the dynamics
and contact forces of the virtual environment is particularly challenging.
This paper describes various methodologies and algorithms that address
the computational challenges associated with interactive simulations involving
multiple contacts and impacts between human like structures. |
| |
| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
|
| |
|
Extension |
Type |
Description |
|
1 |
|
Example
One: Task and posture control sequence. The task involves the
control of the position of the hands and the orientation of the head.
The posture is designed to minimize the gravity torques at the knee
joint. (4.9MB) |
|
2 |
|
Example
Two: The motion of a human skeleton is generated by dynamic simulation.
The user interactively exerts a force onto the skeleton at a location
indicated by the mouse pointer at times 0:04 and 0:07. The dynamic
response of the skeleton is shown in the video. (2.1MB) |
|
3 |
|
Example
Three: A humanoid figure on skis is dropped on a ski jump. The
only actuation is provided by gravitational forces. All subsequent
interactions with the environment are determined using the described
framework for dynamic multicontact simulation. (1.8MB) |
|
4 |
|
Example
Four: A dynamically simulated sequence involving two humanoids
and many objects in the environment. (3.88MB) |
|
5 |
|
Example
Five: Realtime path modification using elastic strips. To avoid
the obstacles, the mobile manipulator deviates significantly from
the task, which consists of following the red line with the end-effector.
(3.4MB) |
|
6 |
|
Example
Six: Taskconsistent path modification using elastic strips. The
obstacles perform the same motion as in the previous video. Obstacle
avoidance is performed in the nullspace of the task so that task execution
is not interrupted. (3.4MB) |
|
7 |
|
Example
Seven: Obstacle motion renders task-consistent path modification
impossible,due to kinematic limitations of the mechanism. Based on
the elastic strip framework, the task is automatically suspended and
resumed when the second obstacle is avoided. (3.4MB) |
|
8 |
|
Example
Eight: The experiments shown in Extensions 5 and 6 are executed
on a real robot. (13.6MB) |
|
| |
| Return
to Contents |
