Automatic generation of contact state graphs based on curvature monotonic segmentation

This paper addresses representation and automatic generation of topological contact states between two 3-D curved objects. Information of contact states is useful for a wide range of applications, from robotic tasks involving compliant motion to virtual prototyping and simulation. As contact states between 3D curved objects are more commonplace and yet more complex and less studied, this work is more necessary. The approach has been implemented, and the implemented examples demonstrate the effectiveness of the approach