Robot hands and the mechanics of manipulation
Robot hands and the mechanics of manipulation
UNDO and REDO operations for solids modeling
IEEE Computer Graphics and Applications
A message passing approach to robot programming
Computers in Industry
Intersection of convex objects in two and three dimensions
Journal of the ACM (JACM)
Simulation tools as a programming aid for robot programming
Proc. of the NATO Advanced Research Workshop on Languages for sensor-based control in robotics
A Cartesian approach to findpath for industrial robots
Proc. of the NATO Advanced Research Workshop on Languages for sensor-based control in robotics
Representations for Rigid Solids: Theory, Methods, and Systems
ACM Computing Surveys (CSUR)
The synthesis of solids bounded by many faces
Communications of the ACM
Winged edge polyhedron representation.
Winged edge polyhedron representation.
Simplified motion planning strategies in flexible manufacturing
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
A New Cell-subdivision Approach to Plan Free Translations in Cluttered Environments
Journal of Intelligent and Robotic Systems
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The characteristics of several solid representation schemes are discussed with respect to their possible use in robot action planning systems. The World Modeler (WM), a solid modeler developed by combining the generalized cylinder approach with constructive solid geometry, is presented. An efficient algorithm for computing collision among convex polyhedrons, that utilizes the internal geometric data structure of the World Modeler is explained.