Name
Title | ||
|---|---|---|
Bending and kissing: Computing self-contact configurations of planar loops with revolute joints |
Abstract | ||
|---|---|---|
In recent work, we introduced the notion of a construction tree of simplices for a linkage L under distance constraints, and showed that the deformation space DSpace(L) of such an L (i.e., its configuration space CSpace(L) modulo rigid motions of ambient space respecting all system specifications) carries geometrically-defined simplex-based parameters that endow it with a ldquopractically piecewise-convexrdquo structure. Here we present parametrizations of contact deformations of planar loops with revolute joints. We show that the bending and kissing loci, which include the self-contact subspace DSContact (generally as a strict subset) can be efficiently described by triangle-based parameters. These results further demonstrate the effectiveness of the simplex-based approach. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152180 | ICRA |
Keywords | Field | DocType |
robot dynamics,kissing,construction tree,planar loops,configuration space cspace,contact deformation,dspace,set theory,linkage l,deformation space,self-contact configurations,distance constraints,ambient space,modulo rigid motions,simplex-based parameter,contact deformations,kissing locus,simplex-based approach,revolute joints,deformation,path planning,bending,planar loop,revolute joint,self-contact configuration,geometrically-defined simplex-based parameters,piecewise-convex structure,distance constraint,solid modeling,data mining,motion planning,face,construction industry,shape,couplings,computer science,educational robots,mathematics,configuration space | Ambient space,Motion planning,Topology,Subspace topology,Control theory,Modulo,Bending,Simplex,Revolute joint,Mathematics,Configuration space | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 E-ISBN : 978-1-4244-2789-5 |
ISBN | Citations | PageRank |
978-1-4244-2789-5 | 5 | 0.45 |
References | Authors | |
7 | 7 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Li Han | 1 | 53 | 7.55 |
| Lee Rudolph | 2 | 49 | 4.38 |
| Sam Dorsey-Gordon | 3 | 5 | 0.45 |
| Dylan Glotzer | 4 | 7 | 0.85 |
| Dan Menard | 5 | 5 | 0.45 |
| Jon Moran | 6 | 5 | 0.45 |
| James R. Wilson | 7 | 840 | 143.42 |