Abstract
Recently the force-feedback has been recognized to be important for virtual reality systems, and many studies have been done in this field. Although we have proposed several methods for displaying the operating feel of a virtual object considering its dynamics in previous works, we have not paid much attention to cases of multiple objects or operators. In more advanced applications of haptic virtual reality, however, the case of multiple operators and multiple dynamic objects will become more important. In this paper, we propose a systematic method of constructing a dynamic virtual world by combining dynamics modules and interaction modules, the former representing elements of the virtual world — virtual objects and real operators — and the latter representing interactions between them. Since this method makes it possible to regard these elements as equal, we can construct a flexible and extendible virtual world to which we can easily add new elements or remove some of its elements. An experimental result using a prototype force display system shows the validity of the proposed method.
This paper is a revised version of [8].
Preview
Unable to display preview. Download preview PDF.
References
K. Tanie and T. Kotoku: Force Display Algorithms, Lecture Notes for IEEE Workshop on Force Display in Virtual Environments and its Application to Robotic Teleoperation, pp. 60–78, 1993.
K. Yamamoto, A. Ishiguro, and Y. Uchikawa: A Development of Dynamic Deforming Algorithms for 3D Shape Modeling with Generating Interactive Force Sensation, VRAIS ′93, pp. 504–511, 1993.
H. Iwata: Artificial Reality with Force-feedback: Development of Desktop Virtual Space with Compact Master Manipulator, Computer Graphics, Vol. 24, No. 4, pp. 165–170, 1990.
T. Yoshikawa, Y. Yokokohji, T. Matsumoto, and X.-Z. Zheng: Display of Feel for the Manipulation of Dynamic Virtual Objects, Trans. ASME, J. DSMC, Vol. 117, No. 4, pp.554–558, 1995.
T. Yoshikawa, X.-Z. Zheng, and T. Moriguchi: Display of Operating Feel of Dynamic Virtual Objects with Frictional Surface, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, pp. 731–738, 1994.
T. Yoshikawa and H. Ueda: Display of 3-Dimensional Operating Feel of Dynamic Virtual Object with Frictional Surface, Proceedings of International Conference on Virtual Systems and Multimedia ′95 in Gifu, pp. 183–188, (1995).
M. Ishii, M. Nakata, and M. Sato: Networked SPIDAR: A Networked Virtual Environment with Visual, Auditory, and Haptic Interactions, PRESENCE, Vol. 3, No. 4, pp. 351–359, 1994.
T. Yoshikawa and H. Ueda: Construction of Virtual World Using Dynamics Modules and Interaction Modules, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2358–2364, 1996.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this paper
Cite this paper
Yoshikawa, T., Ueda, H. (1998). Module-based architecture of world model for haptic virtual reality. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112958
Download citation
DOI: https://doi.org/10.1007/BFb0112958
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76218-8
Online ISBN: 978-3-540-40920-5
eBook Packages: Springer Book Archive