CS277 - Experimental Haptics Lecture 3. Proxy-Based Rendering
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1 CS277 - Experimental Haptics Lecture 3 Proxy-Based Rendering
2 Outline Announcements A note on timing... Limitations with potential fields God-object algorithm Finger-proxy algorithm
3 Course Project Showcase Afternoon of Friday, May 30th?
4 Programming Assignments CHAI3D libraries and application template posted on CS277 site Assignment #1 will be posted later today Picked up your Falcon?
5 A Note on Timing
6 Visual-Haptic Simulation Simulation Simulation engine Visual rendering Hz Haptic device X Collision detection S, X F d Force response Graphics engine Video??? Hz F r Haptic rendering F d Control algorithms How fast do we run the haptic rendering loop?
7 Haptic Rendering Loop x > 1000 Hz F The faster the better!
8 Human Perception Mechanoreceptors in our skin can detect vibrations up to ~400 Hz We are generating a discrete force signal - sampling rate should be above Nyqvist
9 Sampled-Data System avatar force errors x position F x F ideal force sampled position commanded force
10 Effect of Stiffness avatar force errors k 2 Errors get worse as stiffness is increased!
11 Servo Rate Effects avatar Errors are reduced with an increased servo rate
12 Summary of Challenges High stiffness and low servo rate can cause excess energy to be generated Energy must be dissipated through mechanical device Advanced control algorithms may also help
13 On Stiffness N/m > 100 N/m > 1000 N/m 3000 N/m > 10,000 N/m 5000 N/m > 100,000 N/m
14 Potential Field Issues
15 Recall Potential Fields F (x) = ( kx if x>0 0 otherwise x F F (x, y, z) = ( k(x 2 + y 2 + z 2 r 2 ) if x 2 + y 2 + z 2 <r 2 0 otherwise
16 The Sinking Avatar avatar
17 Virtual Box avatar virtual object
18 Virtual Box avatar
19 Virtual Box avatar F
20 Virtual Box avatar F =???
21 Virtual Box pop-out F avatar
22 Thin Objects avatar
23 Thin Objects avatar pop-through
24 Building Blocks avatar F = kx F = kx? Object A - stiffness k Object B - stiffness k
25 Gap in the Middle! avatar Object A - stiffness k Object B - stiffness k
26 Overlapping Blocks avatar F = kx a F = kx? Object A - stiffness k Object B - stiffness k
27 Stiffness Variation! avatar F = (kx a + kx b ) Object A - stiffness k Object B - stiffness k
28 Potential Field Problems Pop-out and pop-through Gaps between objects Stiffness variation with overlapping objects How do we deal with these???
29 God-Object Algorithm CS277 - Experimental [From C. Haptics, Zilles & Stanford K. Salisbury, University, Proc. Spring IEEE/RSJ 2014 IROS, 1995.]
30 On Geometric Representation ???
31 Polygonal Meshes
32 Other Representations point cloud potential field??? implicit surface??? volumetric
33 God-Object Main Idea Simulate an avatar whose position and motion are independent of that of the physical device Avatar tries to follow the physical position while obeying laws of quantum mechanics - Pauli exclusion principle
34 What it looks like avatar (a.k.a. god-object, proxy, virtual tool, HIP) device position
35 Contact With a Surface avatar surface
36 Contact With a Surface test for collisions surface
37 Contact With a Surface test for collisions surface
38 Contact With a Surface projection surface
39 Two Constraints
40 Two Constraints first collision
41 Two Constraints second collision projection
42 Three Constraints collision projection
43 What about cases with more than three constraints?
44 Force Feedback avatar F = kx surface
45 God-Object Demo
46 The Sinking Avatar?
47 Finger-Proxy Algorithm CS277 - Experimental [From D. Ruspini Haptics, Stanford et al., University, Proc. ACM Spring SIGGRAPH, ]
48 God-Object Algorithm avatar surface
49 God-Object Algorithm surface
50 Desired Behavior surface
51 Finger-Proxy Idea shell surface
52 Complex Shell
53 In Two Dimensions shell = 1 box + 2 circles
54 In Three Dimensions shell = 3 spheres + 3 cylinders + 2 triangles
55 Finger-Proxy Algorithm constraint plane Configuration Space Obstacle CS277 - Experimental [From D. Ruspini Haptics, Stanford et al., University, Proc. ACM Spring SIGGRAPH, ]
56 Finger-Proxy Demo
57 Revisiting the Pipeline
58 Haptic Rendering F d X Collision detection S, X Force response F d F r Haptic rendering Control algorithms
59 Collision Detection test for F d X Collision detection S, X Force response collisions F d F r Haptic rendering Control algorithms surface
60 Simulation / Optimization projection X Collision detection S, X F d Force response F d F r Haptic rendering Control algorithms surface
61 Force Feedback X Collision detection S, X F d Force response F = kx F d F r Haptic rendering Control algorithms surface
62 Summary Time is of the essence! Limitations with potential fields God-object algorithm Finger-proxy algorithm Revisit of the haptic rendering pipeline
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