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Título: | A simple characterization of the infinitesimal motions separating general polyhedra in contact |
Autor: | Staffetti, Ernesto; Ros, Lluís CSIC ORCID ; Thomas, Federico CSIC ORCID | Palabras clave: | Automation: Robots Robots Robotics |
Fecha de publicación: | 1999 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE International Conference on Robotics and Automation: 571-577 (1999) | Resumen: | We present a simple local geometric characterization of the configuration space of two polyhedra in contact that provides a representation of all infinitesimal motions that separate them. The polyhedra considered are general in the sense that they possibly have non-convex faces and arbitrary number of holes. The approach presented has two main advantages over former ones: 1) it only relies on the classical basic contacts between polyhedra, i.e. the vertex-face and edge-edge contacts; and 2) it does not require the focal decomposition of non-convexities into convex parts. | Descripción: | IEEE International Conference on Robotics and Automation (ICRA), 1999, Detroit (EE.UU.) | URI: | http://hdl.handle.net/10261/30262 | DOI: | 10.1109/ROBOT.1999.770037 | ISBN: | 0780351800 |
Aparece en las colecciones: | (IRII) Comunicaciones congresos |
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