ON THE ALGEBRAIC-GEOMETRY OF CONTACT FORMATION CELLS FOR SYSTEMS OF POLYGONS Conference Paper

abstract

• The efficient planning of contact tasks for intelligent robotic systems requires a thorough understanding of the kinematic constraints imposed on the system by rolling and sliding contacts. In this paper, we derive closed-form analytic solutions for the position and orientation of a passive polygon moving in contact with two or three active polygons whose positions and orientations are independently controlled. This is done by applying elimination techniques to solve the systems of appropriate contact constraint equations. We prove that the systems of contact constraint equations are smooth submanifolds of configuration space.

name of conference

• Proceedings of the 1994 IEEE International Conference on Robotics and Automation

authors

• Stiller, Peter

published proceedings

• 1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4

author list (cited authors)

• FARAHAT, A. O., STILLER, P. F., & TRINKLE, J. C.

citation count

• 6

complete list of authors

• FARAHAT, AO||STILLER, PF||TRINKLE, JC

publication date

• January 1994

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• 40 Engineering
• 46 Information And Computing Sciences
• 4602 Artificial Intelligence

Digital Object Identifier (DOI)

• 10.1109/ROBOT.1994.351104

International Standard Book Number (ISBN) 10

• 0-8186-5330-2

start page

• 3028

end page

• 3033

issue

• pt 4

URL

• http://dx.doi.org/10.1109/robot.1994.351104