DocumentCode
2020953
Title
Motion planning of objects in contact by the silhouette algorithm
Author
Hirukawa, Hirohisa ; Papegay, Yves
Author_Institution
Electrotech. Lab., Tsukuba, Japan
Volume
1
fYear
2000
fDate
2000
Firstpage
722
Abstract
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
Keywords
computational complexity; computational geometry; graph theory; matrix algebra; path planning; polynomials; motion planning; numeric-symbolic algebraic algorithms; polygons; polyhedra; silhouette algorithm; Assembly; Automation; Concrete; Counting circuits; Laboratories; Meeting planning; Robustness; Terminology;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.844137
Filename
844137
Link To Document