Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김영준 | * |
dc.date.accessioned | 2016-08-29T12:08:02Z | - |
dc.date.available | 2016-08-29T12:08:02Z | - |
dc.date.issued | 2015 | * |
dc.identifier.isbn | 9781479999941 | * |
dc.identifier.issn | 2153-0858 | * |
dc.identifier.other | OAK-16483 | * |
dc.identifier.uri | https://dspace.ewha.ac.kr/handle/2015.oak/231085 | - |
dc.description.abstract | We present a new hybrid approach to computing penetration depth (PD) for general polygonal models. Our approach exploits both local and global approaches to PD computation and can compute error-bounded PD approximations for both deep and shallow penetrations. We use a two-step formulation: the first step corresponds to a global approximation approach that samples the configuration space with bounded error using support vector machines; the second step corresponds to a local optimization that performs a projection operation refining the penetration depth. We have implemented this hybrid algorithm on a standard PC platform and tested its performance with various benchmarks. The experimental results show that our algorithm offers significant benefits over previously developed local-only and global-only methods used to compute the PD. © 2015 IEEE. | * |
dc.description.sponsorship | Bosch;dji;et al.;KUKA;rethink robotics;SIAT | * |
dc.language | English | * |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | * |
dc.title | Hybrid penetration depth computation using local projection and machine learning | * |
dc.type | Conference Paper | * |
dc.relation.volume | 2015-December | * |
dc.relation.index | SCOPUS | * |
dc.relation.startpage | 4804 | * |
dc.relation.lastpage | 4809 | * |
dc.relation.journaltitle | IEEE International Conference on Intelligent Robots and Systems | * |
dc.identifier.doi | 10.1109/IROS.2015.7354052 | * |
dc.identifier.scopusid | 2-s2.0-84958164255 | * |
dc.author.google | Kim Y. | * |
dc.author.google | Manocha D. | * |
dc.author.google | Kim Y.J. | * |
dc.contributor.scopusid | 김영준(56223507100) | * |
dc.date.modifydate | 20240322133440 | * |