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Precise contact motion planning for deformable planar curved shapes
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Yong-Joon | - |
dc.contributor.author | Elber, Gershon | - |
dc.contributor.author | Kim, Myung-Soo | - |
dc.date.accessioned | 2023-04-19T08:50:13Z | - |
dc.date.available | 2023-04-19T08:50:13Z | - |
dc.date.created | 2018-06-12 | - |
dc.date.issued | 2016-01 | - |
dc.identifier.citation | CAD Computer Aided Design, Vol.70, pp.126-133 | - |
dc.identifier.issn | 0010-4485 | - |
dc.identifier.uri | https://hdl.handle.net/10371/191208 | - |
dc.description.abstract | We present a precise contact motion planning algorithm for a deformable robot in a planar environment with stationary obstacles. The robot and obstacles are both represented with C-1-continuous implicit or parametric curves. The robot is changing its shape using a single degree of freedom (via a oneparameter family of deformable curves). In order to reduce the dimensionality of the configuration space, geometrically constrained yet collision free contact motions are sought, that have K (= 2, 3) simultaneous tangential contact points between the robot and the obstacles. The K-contact motion analysis effectively reduces the degrees of freedom of the robot, which enables a more efficient motion planning. The geometric conditions for the K-contact motions can be formulated as a system of non-linear polynomial equations, which can be solved precisely using a multivariate equation solver. The solutions for K-contact motions are represented as curves in a 4-dimensional (x, y, theta, t) space, where x, y, theta are the degrees of freedom of the rigid motion and t is the deformation's parameter. Using the graph structure of the solution curves for the K-contact motions, our algorithm efficiently finds a feasible path connecting two configurations via a graph searching algorithm, whenever available. We demonstrate the effectiveness of the proposed approach using several examples. (C) 2015 Elsevier Ltd. All rights reserved. | - |
dc.language | 영어 | - |
dc.publisher | Pergamon Press Ltd. | - |
dc.title | Precise contact motion planning for deformable planar curved shapes | - |
dc.type | Article | - |
dc.identifier.doi | 10.1016/j.cad.2015.06.015 | - |
dc.citation.journaltitle | CAD Computer Aided Design | - |
dc.identifier.wosid | 000362925100013 | - |
dc.identifier.scopusid | 2-s2.0-84942500236 | - |
dc.citation.endpage | 133 | - |
dc.citation.startpage | 126 | - |
dc.citation.volume | 70 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | Kim, Myung-Soo | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.subject.keywordPlus | CONFIGURATION SPACE OBSTACLES | - |
dc.subject.keywordPlus | POLYNOMIAL SYSTEMS | - |
dc.subject.keywordPlus | GENERATION | - |
dc.subject.keywordPlus | COMPUTATION | - |
dc.subject.keywordAuthor | Configuration spaces | - |
dc.subject.keywordAuthor | Multivariate algebraic constraints | - |
dc.subject.keywordAuthor | Freeform geometric models | - |
dc.subject.keywordAuthor | B-spline curves | - |
dc.subject.keywordAuthor | Deformable robots | - |
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