• DocumentCode
    3023831
  • Title

    Modeling non-convex configuration space using linear complementarity problems

  • Author

    Nguyen, Binh ; Trinkle, Jeff

  • Author_Institution
    Comput. Sci. Dept., Rensselaer Polytech. Inst., Troy, NY, USA
  • fYear
    2010
  • fDate
    3-7 May 2010
  • Firstpage
    2316
  • Lastpage
    2321
  • Abstract
    In this paper, we proposed a new physical simulation method that can model non-convex configuration space. The new method employs a novel contact model that take into account geometry information of objects. It can also be shown that it reduces the work for collision detection routines.
  • Keywords
    computational geometry; collision detection; contact model; geometry information; linear complementarity problem; nonconvex configuration space; Computational modeling; Computer science; Error correction; Friction; Games; Information geometry; Robotics and automation; Solid modeling; Tunneling; USA Councils;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation (ICRA), 2010 IEEE International Conference on
  • Conference_Location
    Anchorage, AK
  • ISSN
    1050-4729
  • Print_ISBN
    978-1-4244-5038-1
  • Electronic_ISBN
    1050-4729
  • Type

    conf

  • DOI
    10.1109/ROBOT.2010.5509728
  • Filename
    5509728
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3023831