Determining feasible contact states of pairs of spatial polyhedra

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

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)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1396-1401
Number of pages6
Volume2
StatePublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: Apr 24 2000Apr 28 2000

Other

OtherICRA 2000: IEEE International Conference on Robotics and Automation
CitySan Francisco, CA, USA
Period4/24/004/28/00

Fingerprint

Motion control
Motion planning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Goeree, B. B., Fasse, E. D., & Marefat, M. M. (2000). Determining feasible contact states of pairs of spatial polyhedra. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1396-1401)

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 proceedingConference contribution

Goeree, BB, Fasse, ED & Marefat, MM 2000, Determining feasible contact states of pairs of spatial polyhedra. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, pp. 1396-1401, ICRA 2000: IEEE International Conference on Robotics and Automation, San Francisco, CA, USA, 4/24/00.
Goeree BB, Fasse ED, Marefat MM. Determining feasible contact states of pairs of spatial polyhedra. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. 2000. p. 1396-1401
Goeree, Barry B. ; Fasse, Ernest D. ; Marefat, Michael Mahmoud. / Determining feasible contact states of pairs of spatial polyhedra. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2000. pp. 1396-1401
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