NDLI: Efficiency improvement in generation of a contact state graph by eliminating unnecessary elements

Content Provider	IEEE Xplore Digital Library
Author	Sung Jo Kwak Hasegawa, T. Seong Youb Chung
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, Chungju National University, Chungju, Republic of Korea (Seong Youb Chung) \|\| Graduate School of Information Science and Electrical, Engineering, Kyushu University, Fukuoka, Japan (Sung Jo Kwak; Hasegawa, T.)
Abstract	In this paper, we propose a method to improve efficiency of generating a contact state graph by eliminating unnecessary elements. The method is based on our previously proposed framework for automatic generation of contact states using triangulation of faces, where contact states are formally represented with topologies of polyhedral objects' elements which are vertex, edge, and triangle. The adjacency of elements is defined to determine priority of elements to be used for developing a contact state graph. Starting from elements adjacent to the initial contact state, the priority of each element is determined by computing its adjacency to the target contact state. The unnecessary elements are eliminated by generating contact states from high priority elements until a generated contact state reaches to the target contact state. If a contact state graph is completed with elements of high priority, the number of contact states is significantly reduced because the other elements are not used. Finally, we can obtain at least a realizable contact sequence from the contact state graph.
Starting Page	1
Ending Page	6
File Size	622934
Page Count	6
File Format	PDF
ISBN	9781612843421
e-ISBN	9781612843438
DOI	10.1109/ISAM.2011.5942340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-25
Publisher Place	Finland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Assembly Contacts Image edge detection Topology Search problems Robotic assembly Friction robotic assembly contact state graph
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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