NDLI: Collision Detection of Deformable Polyhedral Objects via Inner-outer Ellipsoids

Content Provider	IEEE Xplore Digital Library
Author	Jing-Sin Liu Ju-I Kao Yau-Zen Chang
Copyright Year	2006
Description	Author affiliation: Inst. of Information Sci., Acad. Sinica, Taipei (Jing-Sin Liu; Ju-I Kao; Yau-Zen Chang)
Abstract	For deformable polyhedral objects undergoing vertex repositioning, this paper develops a collision detection procedure by virtue of inner-outer ellipsoidal bounds of deformation. A new design of collision detector with tunable accuracy, defined by a linear inequality for easily computed and updated parameters, is presented. It utilizes and tracks a measure of proximity/penetration between two objects in the direction of shortest path between two inner ellipsoids. Moreover, it does not incur additional computational expenses since no costly updating process and heavy dependence on the geometric details of the deformed polyhedral objects is needed, so that the efficiency is comparable to that of rigid cases. Numerical experiments on pairs of randomly scaling convex polyhedra, lacking geometry coherence, demonstrated that the efficiency of the new collision detector is comparable to the rigid case
Starting Page	5600
Ending Page	5605
File Size	124047
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282280
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Object detection Ellipsoids Deformable models Shape Geometry Virtual environment Computer aided manufacturing Humanoid robots Detectors Collision avoidance ellipsoid collision detection deformable object
Content Type	Text
Resource Type	Article

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