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ICRA
2005
IEEE

A New Formalism to Characterize Contact States Involving Articulated Polyhedral Objects

10 years 3 months ago
A New Formalism to Characterize Contact States Involving Articulated Polyhedral Objects
— In this paper a novel formalism to characterize contact states between an articulated polyhedral object and a polyhedral environment for the generation of the graph of feasible contact states between them is presented. This formalism is based upon a particular representation of the stratification of the configuration space of the articulated object by means of oriented matroid theory. A stratification is a decomposition of a set into a collection of manifolds which in our case correspond to the different contact states between the articulated object and the environment. In the representation of the stratification of the configuration space using oriented matroid theory the topological properties of the different strata are represented at a purely combinatorial level. An algorithm to enumerate the existing strata and to find the adjacency relationships among them is proposed. It will be shown that the symbolic computation based on oriented matroids simplifies and in some case...
Ernesto Staffetti, Wim Meeussen, Jing Xiao
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Ernesto Staffetti, Wim Meeussen, Jing Xiao
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