Abstract
A divide-and-merge approach is introduced for automatic generation of high-level, discrete contact state space, represented as contact state graphs, between two contacting polyhedral solids from their geometric models. Based on the fact that a contact state graph is the union of the subgraphs called a goal-contact relaxation (GCR) graph, the approach consists of algorithms (1) to generate a complete GCR graph automatically given the most constrained contact state in the GCR graph and (2) to merge GCR graphs automatically. The algorithms arplemented for cases in which the most constrained contact state in a GCR graph consists of up to three principal contacts. The ability to capture and represent contact state information effectively and efficiently is essential for robotic operations involving compliant motions, for simulation of contact motions, and for haptic interactions.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
