Determining feasible contact states of pairs of spatial polyhedra

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 2000, Pages 1396-1401

  Goeree, Barry B ^a   Fasse, Ernest D ^a   Marefat, Michael M ^a  

^a UNIVERSITY OF ARIZONA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT HYPOTHESES; EDGE-EDGE CONTACT; FACE VERTEX CONTACT; QUALITATIVE CONTACT MODELS; SPATIAL POLYHEDRA; VERTEX FACE CONTACT;

COMPUTATIONAL METHODS; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; OPTIMIZATION; ROBOTICS;

MOTION PLANNING;

EID: 0033691977     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. A.P. Ambler and R.J. Popplestone. Inferring the positions of bodies from specified spatial relationships. Artificial Intelligence, 6:157-174, 1975.
2. F. Avnaim and J.D. Boissonnat. Polygon placement under translation and rotation. Technical Report No. 890, INRIA, Sophia-Antipolis, France, 1988.
3. R.C. Brost. Computing metric and topological properties of configuration-space obstacles. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 170-176, 1989.
4. Stephen J. Buckley. Planning compliant motion strategies. International Journal of Robotics Research, 8(5):28-44, October 1989.
5. J.F. Canny. On computability of fine motion plans. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 177-182, 1989.
6. B.R. Donald. On motion planning with six degrees of freedom: Solving the intersection problems in configuration space. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 536-541, 1985.
7. Michael Erdman. Using backprojections for fine motion planning with uncertainty. International Journal of Robotics Research, 5(1):19-45, Spring 1986.
8. B. B. Goeree, E. D. Fasse, and M. M. Marefat. Determining feasible contact states of pairs of spatial polyhedra using optimization methods. submitted for publication in IEEE Transactions on Robotics and Automation, 1999.
9. B. B. Goeree, E. D. Fasse, and M. M. Marefat. An optimization based approach for determining whether a set of elementary contacts is geometrically feasible. In Proc. Of the ASME Dynamic Systems and Control Division, volume ASME DSC-Vol. 67. pages 883-889. 1999.
10. B. B. Goeree, E. D. Fasse, and M. M. Marefat. Verifying contact hypotheses of planar, polyhedral objects using penetration growth distance. submitted for publication in the IFAC journal Robotics and Computer-Integmted Manufacturing, 1999.
11. L. Joskowicz and E.P. Sacks. Computational kinematics. Artificial Intelligence, 51:381-416, 1991.
12. Jean-Claude Latombe. Robot Motion Planning. Kluwer Academic Publishers, Boston, 1991.
13. Tomb Lozano-PBrez, Matthew T. Mason, and Russell H. Taylor. Automatic synthesis of fine-motion strategies for robots. International Journal of Robotics Research, 3( 1):3-24, Spring 1984.
14. B.J. McCarragher and H. Asada. The discrete event modeling and trajectory planning of robotic assembly tasks. ASME J. of Dynomrc Systems, Measurement and Control, 117:394-400, September 1995.
15. Chong Jin Ong and Elmer G. Gilbert. Growth distances: New measures for object separation and penetration. IEEE Transactions on Robotics and Automatron, 12(6):888-903, December 1996.
16. Michael A. Peshkin. Programmed compliance for error corrective assembly. IEEE Tmnsactrons on Robotrcs and Automation, 6(4):473-482, August 1990.
17. Jing Xiao and Lixin Zhang. Contact constraint analysis and determination of geometrically valid contact formations from possible contact primitives. IEEE Transactions on Robotics and Automatron, 13(3):456-466, 1997