Title :
Modeling non-convex configuration space using linear complementarity problems
Author :
Nguyen, Binh ; Trinkle, Jeff
Author_Institution :
Comput. Sci. Dept., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
In this paper, we proposed a new physical simulation method that can model non-convex configuration space. The new method employs a novel contact model that take into account geometry information of objects. It can also be shown that it reduces the work for collision detection routines.
Keywords :
computational geometry; collision detection; contact model; geometry information; linear complementarity problem; nonconvex configuration space; Computational modeling; Computer science; Error correction; Friction; Games; Information geometry; Robotics and automation; Solid modeling; Tunneling; USA Councils;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509728
