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A fast and practical algorithm for generalized penetration depth computation

Title
A fast and practical algorithm for generalized penetration depth computation
Authors
Zhang L.Kim Y.J.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2008
Journal Title
Robotics: Science and Systems
ISSN
2330-7668JCR Link
Citation
vol. 3, pp. 265 - 272
Publisher
MIT Press Journals
Indexed
SCOPUS scopus
Abstract
We present an efficient algorithm to compute the generalized penetration depth (PDg) between rigid models. Given two overlapping objects, our algorithm attempts to compute the minimal translational and rotational motion that separates the two objects. We formulate the PDg computation based on modeldependent distance metrics using displacement vectors. As a result, our formulation is independent of the choice of inertial and body-fixed reference frames, as well as specific representation of the configuration space. Furthermore, we show that the optimum answer lies on the boundary of the contact space and pose the computation as a constrained optimization problem. We use global approaches to find an initial guess and present efficient techniques to compute a local approximation of the contact space for iterative refinement. We highlight the performance of our algorithm on many complex models.
ISBN
9780262524841
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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