Title :
Motion planning of objects in contact by the silhouette algorithm
Author :
Hirukawa, Hirohisa ; Papegay, Yves
Author_Institution :
Electrotech. Lab., Tsukuba, Japan
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844137
