Motion planning of objects in contact by the silhouette algorithm

Motion planning of objects in contact by the silhouette algorithm

Describes motion planning of objects in contact by the silhouette algorithm. The problem is formulated to meet the pre-requisites of the silhouette algorithm, and numeric-symbolic algebraic algorithms are given to solve it. As an example, we have been implementing the algorithm for motion planning o...

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Veröffentlicht in:Proceedings - IEEE International Conference on Robotics and Automation 2000, Vol.1, p.722-729 vol.1
Hauptverfasser: Hirukawa, H., Papegay, Y.
Format: Artikel
Sprache:eng
Schlagworte:
Assembly
Automation
Concrete
Counting circuits
Laboratories
Meeting planning
Robustness
Terminology
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Zusammenfassung:Describes motion planning of objects in contact by the silhouette algorithm. The problem is formulated to meet the pre-requisites of the silhouette algorithm, and numeric-symbolic algebraic algorithms are given to solve it. As an example, we have been implementing the algorithm for motion planning of polygons in contact, but it can be extended to that of polyhedra in contact.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2000.844137