NDLI: Computing rotation distance between contacting polyhedra

Content Provider	IEEE Xplore Digital Library
Author	Jing Xiao Lixin Zhang
Copyright Year	1996
Description	Author affiliation: Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC, USA (Jing Xiao; Lixin Zhang)
Abstract	Distance computation is essential for collision prediction and/or detection in real-world robotic tasks, computer simulation and animation, and CAD/CAM. This paper addresses distance computation to deal with a rarely researched type of collision prediction/detection problem: Given two objects in certain contact, determine if and when a relative rotation constrained by contact will cause a collision (which results in a new contact state) between the two objects. The authors use the positive angle of rotation as the measure of rotation distance and present a method to compute, given two contacting convex polyhedra G and H and a rotation axis containing contact point(s) between them, the shortest rotation distance (SRD) of G which will cause new collision between G and H. The method is fully implemented and used in a computer simulation system for a contact-based fine motion planning scheme. The algorithm is also efficient. If each vertex of G or H is the intersection of n/sub e//spl nu// edges, the worst-case time complexity of the algorithm is O(n/sup 2//sub e//spl nu//). This means that for two arbitrary trihedral polyhedra, the algorithm has a constant worst-time complexity.
Starting Page	791
Ending Page	797
File Size	638246
Page Count	7
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.503870
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Euclidean distance Object detection Rotation measurement Animation Shape measurement Tactile sensors Computer science Robots Computer simulation Computer aided manufacturing
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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