Elastic object modeling in a VR-based telerobotic system

Hsine Chu Chun*, Kuu-Young Young

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

Abstract

For successful teleoperation, it is crucial whether the telepresence can be realized in a sufficiently natural way, so that the operator may feel physically present at the remote site. This telepresence generation becomes more challenging, when the telerobotic system is employed to manipulate soft objects. In this paper, we propose a scheme on virtual object modeling for achieving realistic emulation of the object's behavior in the virtual environment. According to its physical property, the proposed modeling scheme generates the shape change of the object and also the corresponding reactive force during the deformation. Experiments based on using a VR-based telerobotic system developed in our laboratory to interact with elastic objects demonstrate the effectiveness of the proposed scheme.

Original languageEnglish
Pages4526-4529
Number of pages4
DOIs
StatePublished - 2004
EventWCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings - Hangzhou, China
Duration: 15 Jun 200419 Jun 2004

Conference

ConferenceWCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings
Country/TerritoryChina
CityHangzhou
Period15/06/0419/06/04

Keywords

  • Robotics
  • Telerobot
  • Virtual reality

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