Abstract
We describe an interactive interface for exploring and acquiring reality-based models of physical objects. A user interacts with a graphical/haptic display to specify exploration operations on a model of the object (poking, rubbing along a path). These operations are then performed on the real object by a remote robotic sensing system, in order to measure certain requested physical properties (roughness, friction, acoustic response). Measured physical data is then parameterized and mapped back onto an area of the model in the haptic display, where it can be experienced by the user. If desired, the user can then extend this data onto other parts of the object model, by applying it to regions and features defined using the haptic display.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
D.K. Pai, J. Lang, J.E. Lloyd, and J.L. Richmond,“Reality-BasedModeling with ACME: a Progress Report”, 7th International Symposium on Experimental Robotics, Honolulu, Hawaii, December 2000.
A. M. Okamura, M. A. Costa, M. L. Turner, C. Richard, and M. R. Cutkosky,“Haptic Surface Exploration,” Proc. of Sixth Intl. Symp. on Experimental Robotics, 1999.
B. Baxter, V. Scheib, M.C. Lin and D. Manocha,“DAB: Interactive Haptic Painting with 3D Virtual Brushes”, Proceedings of ACM Siggraph, Los Angeles, California, August 2001.
S.A. Ehmann, A.D. Gregory and M.C. Lin, “A Touch-Enabled System for Multiresolution Modeling and 3D Painting”, Journal of Visualization and Computer Animation, 2001.
D.K. Pai and K. van den Doel, D.L. James, J. Lang, J.E. Lloyd, J.L. Richmond and S.H. Yau,“Scanning Physical Interaction Behavior of 3D Objects”, Proceedings of ACM Siggraph, Los Angeles, California, August 2001.
J.E. Lloyd, J.S. Beis, D.K. Pai and D.G. Lowe,“Programming Contact Tasks Using a Reality-based Virtual Environment Integrated with Vision”, IEEE Transactions on Robotics and Automation, June 1999, (vol RA-15, no. 3), pp. 423–434.
G. Hirzinger, B. Brunner, J. Dietrich and J. Heindl, “Sensor-Based Space Robotics-ROTEX and Its Telerobotic Features”, IEEE Transactions on Robotics and Automation, October 1993, (vol RA-9, no. 5), pp. 649–663.
C. R. Sayers, Operator Control of Telerobotic Systems for Real World Intervention, Ph.D. Thesis, Department of Computer and Information Science, University of Pennsylvania, Philadelphia, Pennsylvania, 1995.
K. van den Doel, P.G. Kry and D.K. Pai, “FoleyAutomatic: Physically-based Sound Effects for Interactive Simulation and Animation”, Proceedings of ACM Siggraph, Los Angeles, California, August 2001.
J.E. Lloyd and D.K. Pai,“Robotic Mapping of Friction and Roughness for Reality-based Modeling”, Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001.
A.M. Okamura and M.R. Cutkosky,“Feature Detection for Haptic Exploration with Robotic Fingers.” International Journal of Robotics Research, Vol. 20, No. 12, pp. 925–938, 2001.
M. Basseville,“Detectingchanges in signals and systems-a survey”, Automatica, 1988, (vol 24, no. 3), pp. 309–320.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lloyd, J.E., Pai, D.K. (2003). Interactive Exploration of Remote Objects Using a Haptic-VR Interface. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_51
Download citation
DOI: https://doi.org/10.1007/3-540-36268-1_51
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00305-2
Online ISBN: 978-3-540-36268-5
eBook Packages: Springer Book Archive