Path Planning of Holonomic and Non-Holonomic Robots Using Bump-Surfaces

Abstract

Haptic perception of fine surface features is a fundamental modality to identify virtual objects.Roughness and stickiness, which are modeled as surface textures and friction respectively, are the main characteristics in terms of haptics.This research is aimed at the haptic rendering method of fine surface features based on the analysis of the surface profile.Functionally generated surface features are employed for the haptic rendering of surface textures and surface friction.Haptic rendering of anisotropic surface -surface having a dominant feature direction, and haptic rendering of heterogeneous surface -surface with a varied feature density, are investigated.Experimental measurements and prototype system implementations have been done to show the fidelity of the proposed surface feature modeling methods.