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CGI
2003
IEEE

Reaching Volumes Generated by Means of Octal Trees and Cartesian Constraints

13 years 7 months ago
Reaching Volumes Generated by Means of Octal Trees and Cartesian Constraints
This paper presents a system to analyze the reachability of the human body. The inverse kinematics technique is employed to find which regions of space are reachable using a certain reach strategy. This information is stored in a data structure called Volume Approximation Tree (VATree). This tree has proven itself to be an appropriate data structure for two reasons: it provides an efficient representation of the reachable volumes and it reduces the number of inverse kinematics simulations necessary for its construction. Once the VATrees are constructed for the different reach strategies, that information can be used to determine in real time which strategy is most suitable for a given reach task.
I. Rodríguez, Manuel Peinado, Ronan Boulic,
Added 23 Aug 2010
Updated 23 Aug 2010
Type Conference
Year 2003
Where CGI
Authors I. Rodríguez, Manuel Peinado, Ronan Boulic, Daniel Meziat
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