Parametrization of Catmull-Clark subdivision surfaces for posture generation
Parametrization of Catmull-Clark subdivision surfaces for posture generation
复制标题
用于生成姿势的 Catmull-Clark 细分曲面的参数化
DOI：
10.1109/icra.2016.7487300
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
A. Kheddar
中科院分区：
文献类型：
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作者：
Adrien Escande;Stanislas Brossette;A. Kheddar
本文提出了一种从单位球面到Catmull-Clark细分曲面的光滑非奇异映射的构造方法。我们使用定制的光线投射算法将表面的一个点与球体的每个点相关联。这使我们能够对各种各样的（可能是非凸的）网格进行平滑的近似表示，我们可以使用这些网格在基于梯度的优化中编写数值上表现良好的约束。特别是，我们解决了机器人与其环境中的对象之间的接触约束的写入。我们首先详细介绍了我们的算法，考虑速度和鲁棒性，然后展示了人形机器人或手的姿势生成的几个用例。
In this paper we propose a method to build a smooth and non-singular map from the unit sphere to a Catmull-Clark subdivision surface. We use a tailored ray-casting algorithm to associate a point of the surface to each point of the sphere. This allows us to have smooth approximate representations for a large variety of (possibly non-convex) meshes that we can use to write numerically well-behaved constraints in gradient-based optimization. In particular, we address the writing of contact constraints between a robot and objects of its environment. We first detail our algorithm, taking care of speed and robustness, then show several use-cases for posture generations with a humanoid robot or a hand.