title: A generalized framework for interactive dynamic simulation for MultiRigid bodies.
abstract: This paper presents a generalized framework for dynamic simulation realized in a prototype simulator called the Interactive Generalized Motion Simulator (I-GMS), which can simulate motions of multirigid-body systems with contact interaction in virtual environments. I-GMS is designed to meet two important goals: generality and interactivity. By generality, we mean a dynamic simulator which can easily support various systems of rigid bodies, ranging from a single free-flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. To provide this generality, we have developed I-GMS in an object-oriented framework. The user interactivity is supported through a haptic interface for articulated bodies, introducing interactive dynamic simulation schemes. This user-interaction is achieved by performing push and pull operations via the PHANToM haptic device, which runs as an integrated part of I-GMS. Also, a hybrid scheme was used for simulating internal contacts (between bodies in the multirigid-body system) in the presence of friction, which could avoid the nonexistent solution problem often faced when solving contact problems with Coulomb friction. In our hybrid scheme, two impulse-based methods are exploited so that different methods are applied adaptively, depending on whether the current contact situation is characterized as "bouncing" or "steady." We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories of a 6-degree of freedom (dof) articulated structure.
authors.affiliation: Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350, Korea. whson@etri.re.kr
authors.forename: Wookho
authors.initials: W
authors.lastname: Son
authors.forename: Kyunghwan
authors.initials: K
authors.lastname: Kim
authors.forename: Nancy M
authors.initials: NM
authors.lastname: Amato
authors.forename: Jeffrey C
authors.initials: JC
authors.lastname: Trinkle
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena / Q000379:methods; D003198:Computer Simulation; D006801:Humans; D007596:Joints / Q000502:physiology*; D008954:Models, Biological; D009068:Movement / Q000502:physiology*; D017711:Nonlinear Dynamics; D012371:Robotics / Q000379:methods*; D014584:User-Computer Interface