Name
Title | ||
|---|---|---|
Continuous gradient proximity distance for humanoids free-collision optimized-postures |
Abstract | ||
|---|---|---|
This paper presents a new method for strictly convex hulls (i.e. bounding volume) generation made by assembling patches of spheres and toruses (STP-BV). This bounding volume allows to compute proximity distances with the guarantee of their gradients' continuity. This bounding volume is computed off-line; it slightly over-covers the polyhedral convex hull of the geometrical form. Given a pair of convex objects, having only one of them strictly convex (i.e. STP-BV covered) is proved to be sufficient to guarantee gradient continuity of the proximity distance. The distance computation is based on the closest features of the underlying polyhedral convex hull obtained with V-Clip or any other algorithm. The suggested algorithm is exemplified through a free-collision (including free self-collision) optimization-based humanoid posture generation. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ICHR.2007.4813867 | Pittsburgh, PA |
Keywords | DocType | ISSN |
collision avoidance,computational geometry,gradient methods,humanoid robots,mobile robots,optimisation,continuous gradient proximity distance computation,geometrical form,humanoid free-collision optimized-posture generation,humanoid robot,polyhedral convex hull generation | Conference | 2164-0572 |
ISBN | Citations | PageRank |
978-1-4244-1862-6 | 17 | 1.12 |
References | Authors | |
10 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Adrien Escande | 1 | 273 | 22.91 |
| Sfa Miossec | 2 | 173 | 14.21 |
| Abderrahmane Kheddar | 3 | 1191 | 101.66 |