Abstract
Recent research uses qualitative contact models for compliant motion planning and control. Although these methods have great potential, generation of qualitative contact models of non-convex polyhedra is difficult. Qualitative contact models could be generated in a generate-and-test fashion if a predicate were available for verifying contact hypotheses. In general, a contact hypothesis does not fully constrain the relative configuration of the objects making verification of the hypothesis difficult. This paper presents an optimization-based method to verify geometric feasibility of contact hypotheses that do not fully constrain the relative configuration. This method has been implemented and applied to test contact hypotheses of nontrivial object pairs.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 1396-1401 |
| Number of pages | 6 |
| Volume | 2 |
| State | Published - 2000 |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: Apr 24 2000 → Apr 28 2000 |
Other
| Other | ICRA 2000: IEEE International Conference on Robotics and Automation |
|---|---|
| City | San Francisco, CA, USA |
| Period | 4/24/00 → 4/28/00 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Determining feasible contact states of pairs of spatial polyhedra. / Goeree, Barry B.; Fasse, Ernest D.; Marefat, Michael Mahmoud.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2000. p. 1396-1401.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Determining feasible contact states of pairs of spatial polyhedra
AU - Goeree, Barry B.
AU - Fasse, Ernest D.
AU - Marefat, Michael Mahmoud
PY - 2000
Y1 - 2000
N2 - Recent research uses qualitative contact models for compliant motion planning and control. Although these methods have great potential, generation of qualitative contact models of non-convex polyhedra is difficult. Qualitative contact models could be generated in a generate-and-test fashion if a predicate were available for verifying contact hypotheses. In general, a contact hypothesis does not fully constrain the relative configuration of the objects making verification of the hypothesis difficult. This paper presents an optimization-based method to verify geometric feasibility of contact hypotheses that do not fully constrain the relative configuration. This method has been implemented and applied to test contact hypotheses of nontrivial object pairs.
AB - Recent research uses qualitative contact models for compliant motion planning and control. Although these methods have great potential, generation of qualitative contact models of non-convex polyhedra is difficult. Qualitative contact models could be generated in a generate-and-test fashion if a predicate were available for verifying contact hypotheses. In general, a contact hypothesis does not fully constrain the relative configuration of the objects making verification of the hypothesis difficult. This paper presents an optimization-based method to verify geometric feasibility of contact hypotheses that do not fully constrain the relative configuration. This method has been implemented and applied to test contact hypotheses of nontrivial object pairs.
UR - http://www.scopus.com/inward/record.url?scp=0033691977&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033691977&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0033691977
VL - 2
SP - 1396
EP - 1401
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -