Determining feasible contact states of pairs of spatial polyhedra
Determining feasible contact states of pairs of spatial polyhedra
复制标题
确定空间多面体对的可行接触状态
DOI：
10.1109/robot.2000.844793
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
M. Marefat
中科院分区：
文献类型：
--
作者：
Barry B. Goeree;E. Fasse;M. Marefat
最近的研究使用定性接触模型的顺应运动规划和控制。虽然这些方法有很大的潜力，非凸多面体的定性接触模型的生成是困难的。如果有等同器械可用于验证接触假设，则可以以生成-检验方式生成定性接触模型。一般来说，接触假说并不完全约束对象的相对配置，使得假说的验证变得困难。本文提出了一种基于优化的方法来验证接触假设的几何可行性，不完全约束的相对配置。该方法已被实现，并应用于测试接触假设的非平凡的对象对。
Recent research uses qualitative contact models for compliant motion planning and control. Although these methods have great potential, generation of qualitative contact models of nonconvex 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.