@InProceedings{Patoglu2004,
	title = {{Haptic Rendering of Parametric Surfaces Using a Feedback Stabilized Extremal Distance Tracking Algorithm}},
	year = {2004},
	author = {Volkan Patoglu and R. Brent Gillespie},
	booktitle = {IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems},
	abstract ={An extremal distance tracking algorithm is presented for convex parametric curves and surfaces undergoing rigid body motion. The geometric extremization problem is differentiated with respect to time to produce a
dynamical system that incorporates dependence on both surface shape and rigid body motion. Extremization then takes place by integrating these dynamical equations, but with a feedback controller in place to stabilize the solution.
A controller design using feedback linearization is developed that simultaneously accounts for surface shape and motion while asymptotically achieving (and maintaining) the extremal pair. Collision detection then takes place in a
framework fully analogous to that used for multibody simulation. Local stability results are extended to provide global stability for body shapes composed of pieced-together convex parametric surface patches using a switching
algorithm.}
}


%%%%%%%%%%%%%%%%%%%% Year:2005 %%%%%%%%%%%%%%%%%%%%

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