@inproceedings{014b7030b073492882368a9509cb7b4e,
title = "An interactive generalized motion simulator (GMS) in an object-oriented framework",
abstract = "This paper introduces I-GMS, a dynamic simulator that accommodates 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. I-GMS's object-oriented design provides a generic framework for representing various types of rigid body systems, and exploits virtual functions to apply common kinematic and dynamic functionalities to them. Moreover, I-GMS supports interactive simulation so that it easily incorporates user-input for the on-line editing and modification of trajectories. User-interaction is achieved with the PHANToM haptic device which runs as an integrated part of I- GMS. We demonstrate I-GMS's capability to simulate general multi-rigid-body systems through examples that include a free-falling sphere, a robot manipulator, and a human body model with 36 degrees of freedom (dof). We present a simple example of interactive simulation for a 3-dof robot manipulator.",
keywords = "Dynamic simulation, Haptic interaction, Human body model, Interactive simulation, Object-oriented design",
author = "Wookho Son and Kyunghwan Kim and Amato, \{Nancy M.\}",
note = "This research supported in part by NSF CAREER Award CCR-9624315, NSF Grants IIS-9619850, EIA-9805823, and EIA-9810937, and by the Texas Higher Education Coordinating Board under grant ARP-036327-017. We would like to thank Jeffrey Trinkle for his help in the initial design and implementation of I-GMS. {\textquoteleft}This research supported in part by NSF CAREER Award CCR-9624315, NSF Grants 11s-9619850, EIA-9805823, and EIA-9810937, and by the Texas Higher Education Coordinating Board under grant ARP-036327-017.; 2000 Computer Animation, CA 2000 ; Conference date: 03-05-2000 Through 05-05-2000",
year = "2000",
doi = "10.1109/CA.2000.889078",
language = "English (US)",
series = "Proceedings - Computer Animation 2000, CA 2000",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "176--181",
booktitle = "Proceedings - Computer Animation 2000, CA 2000",
address = "United States",
}