{"id":"https://openalex.org/W4301241521","doi":"https://doi.org/10.1109/iros.2011.6095015","title":"Asynchronous haptic simulation of contacting deformable objects with variable stiffness","display_name":"Asynchronous haptic simulation of contacting deformable objects with variable stiffness","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W4301241521","doi":"https://doi.org/10.1109/iros.2011.6095015"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095015","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00823762/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026871569","display_name":"Igor Peterl\u00edk","orcid":"https://orcid.org/0000-0002-6178-625X"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Igor Peterlik","raw_affiliation_strings":["INRIA, University of Lille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, University of Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Duriez","raw_affiliation_strings":["INRIA, University of Lille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, University of Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040009139","display_name":"St\u00e9phane Cotin","orcid":"https://orcid.org/0000-0002-2661-505X"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Cotin","raw_affiliation_strings":["INRIA, University of Lille, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, University of Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2608","last_page":"2613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9620000123977661,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9620000123977661,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.005400000140070915,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.004999999888241291,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8802770972251892},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6661142110824585},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.617890477180481},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5908644795417786},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5231553316116333},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3726806640625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13793215155601501},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11913970112800598},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1004856526851654},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0486200749874115}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8802770972251892},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6661142110824585},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.617890477180481},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5908644795417786},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5231553316116333},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3726806640625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13793215155601501},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11913970112800598},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1004856526851654},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0486200749874115},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2011.6095015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095015","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00823762v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00823762","pdf_url":"https://hal.science/hal-00823762/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 2011, san francisco, United States. pp.2608--2613","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.409.8692","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.409.8692","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal.inria.fr/docs/00/82/37/62/PDF/IROS2011.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.655.9305","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.655.9305","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.archives-ouvertes.fr/hal-00823762/document/","raw_type":"text"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/26686","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/26686","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00823762v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00823762","pdf_url":"https://hal.science/hal-00823762/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, 2011, san francisco, United States. pp.2608--2613","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7400000095367432,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4301241521.pdf","grobid_xml":"https://content.openalex.org/works/W4301241521.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1552857023","https://openalex.org/W1964366420","https://openalex.org/W2018398616","https://openalex.org/W2032113491","https://openalex.org/W2036223126","https://openalex.org/W2063189491","https://openalex.org/W2068794080","https://openalex.org/W2075605912","https://openalex.org/W2096147331","https://openalex.org/W2112420768","https://openalex.org/W2113091440","https://openalex.org/W2120375188","https://openalex.org/W2133181583","https://openalex.org/W2133215676","https://openalex.org/W2134498742","https://openalex.org/W2144415816","https://openalex.org/W2145804351","https://openalex.org/W2145890814","https://openalex.org/W2158404524","https://openalex.org/W2183432395"],"related_works":["https://openalex.org/W2147711412","https://openalex.org/W2146056927","https://openalex.org/W2317410241","https://openalex.org/W1483356441","https://openalex.org/W2089325757","https://openalex.org/W1976331846","https://openalex.org/W2970446571","https://openalex.org/W2147287153","https://openalex.org/W1997911766","https://openalex.org/W2976692949"],"abstract_inverted_index":{"This":[0,32],"paper":[1],"presents":[2],"a":[3,43,51,80,97,136,151,158,163],"new":[4],"asynchronous":[5],"approach":[6],"for":[7,41,85],"haptic":[8,53],"rendering":[9],"of":[10,25,88,128],"deformable":[11,61,91,98,110,164],"objects.":[12,92],"When":[13],"stiff":[14,38],"nonlinear":[15],"deformations":[16,156],"take":[17],"place,":[18],"they":[19],"introduce":[20],"important":[21],"and":[22,121,157],"rapid":[23],"variations":[24],"the":[26,30,37,94,108,125,129],"force":[27],"sent":[28],"to":[29,36,49,67],"user.":[31],"problem":[33,77],"is":[34,47,64],"similar":[35],"virtual":[39,111,130,159],"wall":[40],"which":[42],"high":[44,72,104],"refresh":[45,105,117],"rate":[46],"required":[48],"obtain":[50],"stable":[52,86],"feedback.":[54],"However,":[55],"when":[56],"dealing":[57],"with":[58,162],"several":[59],"interacting":[60,161],"objects,":[62],"it":[63],"usually":[65],"impossible":[66],"simulate":[68],"all":[69],"objects":[70,112,127],"at":[71,103,115],"rates.":[73,118],"To":[74],"address":[75],"this":[76],"we":[78,143],"propose":[79],"quasi-static":[81],"framework":[82],"that":[83],"allows":[84],"interactions":[87],"asynchronously":[89],"computed":[90,102,114],"In":[93],"proposed":[95],"approach,":[96],"object":[99],"can":[100],"be":[101],"rates,":[106],"while":[107],"remaining":[109],"remain":[113],"low":[116],"Moreover,":[119],"contacts":[120],"other":[122],"constraints":[123],"between":[124],"different":[126],"environment":[131],"are":[132],"accurately":[133],"solved":[134],"using":[135],"shared":[137],"Linear":[138],"Complementarity":[139],"Problem":[140],"(LCP).":[141],"Finally,":[142],"demonstrate":[144],"our":[145],"method":[146],"on":[147],"two":[148],"test":[149],"cases:":[150],"snap-in":[152],"example":[153],"involving":[154],"non-linear":[155],"thread":[160],"object.":[165]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}