Geometric modeling
The complexity of robot motion planning
The complexity of robot motion planning
Simulation of simplicity: a technique to cope with degenerate cases in geometric algorithms
ACM Transactions on Graphics (TOG)
Modelling with degenerate objects
Computer-Aided Design
Interference-free insertion of a solid body into a cavity: an algorithm and a medical application
International Journal of Robotics Research
Fine motion planning through constraint network analysis
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
Physically Accurate Haptic Rendering with Dynamic Effects
IEEE Computer Graphics and Applications
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Three-dimensional impact: energy-based modeling of tangential compliance
International Journal of Robotics Research
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Information of high-level, topological contact states is useful and sometimes even necessary for a wide range of applications, from robotic tasks involving compliant motion to virtual prototyping and simulation. This paper addresses how to represent concisely and generate automatically graphs of contact states between 3D curved objects of a broad class, which may include smooth curved or planar surfaces. The approach is sound and complete if the step size of discretization is smaller than a finite threshold. By exploiting topological and geometrical constraints, it is also quite efficient. The implemented examples demonstrate the effectiveness of the approach.