Determining feasible contact states of pairs of spatial polyhedra

Barry B. Goeree, Ernest D. Fasse, Michael M. Marefat

Research output: Contribution to journalConference article

9 Scopus citations

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 languageEnglish (US)
Pages (from-to)1396-1401
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Dec 3 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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