Computer Science
Bending and kissing: Computing self-contact configurations of planar loops with revolute joints
Document Type
Conference Paper
Abstract
In recent work, we introduced the notion of a construction tree of simplices for a linkage L under distance constraints, and showed that the deformation space DSpace(L) of such an L (i.e., its configuration space CSpace(L) modulo rigid motions of ambient space respecting all system specifications) carries geometrically-defined simplex-based parameters that endow it with a "practically piecewise-convex" structure. Here we present parametrizations of contact deformations of planar loops with revolute joints. We show that the bending and kissing loci, which include the self-contact subspace DSContact (generally as a strict subset) can be efficiently described by triangle-based parameters. These results further demonstratethe effectiveness of the simplex-based approach. © 2009 IEEE.
Publication Title
Proceedings - IEEE International Conference on Robotics and Automation
Publication Date
2009
First Page
1346
Last Page
1351
ISSN
1050-4729
ISBN
9781424427895
DOI
10.1109/ROBOT.2009.5152180
Repository Citation
Han, Li; Rudolph, Lee; Dorsey-Gordon, Sam; Glotzer, Dylan; Menard, Dan; Moran, Jon; and Wilson, James R., "Bending and kissing: Computing self-contact configurations of planar loops with revolute joints" (2009). Computer Science. 192.
https://commons.clarku.edu/faculty_computer_sciences/192
APA Citation
Han, L., Rudolph, L., Dorsey-Gordon, S., Glotzer, D., Menard, D., Moran, J., & Wilson, J. R. (2009, May). Bending and kissing: Computing self-contact configurations of planar loops with revolute joints. In 2009 IEEE International Conference on Robotics and Automation (pp. 1346-1351). IEEE.
