Name
Abstract | ||
|---|---|---|
Distance computation is essential for collision prediction and/or detection in real-world robotic tasks, computer simulation and animation, and CAD/CAM. This paper addresses distance computation to deal with a rarely researched type of collision prediction/detection problem: Given two objects in certain contact, determine if and when a relative rotation constrained by contact will cause a collision (which results in a new contact state) between the two objects. The authors use the positive angle of rotation as the measure of rotation distance and present a method to compute, given two contacting convex polyhedra G and H and a rotation axis containing contact point(s) between them, the shortest rotation distance (SRD) of G which will cause new collision between G and H. The method is fully implemented and used in a computer simulation system for a contact-based fine motion planning scheme. The algorithm is also efficient. If each vertex of G or H is the intersection of neν/ edges, the worst-case time complexity of the algorithm is O(n2eν/). This means that for two arbitrary trihedral polyhedra, the algorithm has a constant worst-time complexity |
Year | DOI | Venue |
|---|---|---|
1996 | 10.1109/ROBOT.1996.503870 | ICRA |
Keywords | Field | DocType |
robots,collision detection,cad/cam,computer animation,collision prediction,worst-case time complexity,contact-based fine motion planning scheme,computational geometry,rotation distance,computational complexity,animation,contacting polyhedra,path planning,worst-time complexity,trihedral polyhedra,contact point,computer simulation,convex polyhedra,tactile sensors,cad cam,computer science,time complexity,motion planning,computer aided manufacturing,euclidean distance | Discrete mathematics,Angle of rotation,Vertex (geometry),Computer science,Control theory,Computational geometry,Polyhedron,Regular polygon,Time complexity,Geometry,Computational complexity theory,Computation | Conference |
Volume | Issue | ISSN |
1 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-2988-0 | 3 | 0.56 |
References | Authors | |
8 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jing Xiao | 1 | 3 | 0.56 |
| Lixin Zhang | 2 | 571 | 45.96 |