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ICCV
2009
IEEE
13 years 9 months ago
The Normalized Subspace Inclusion: Robust clustering of motion subspaces
Perceiving dynamic scenes of rigid bodies, through affine projections of moving 3D point clouds, boils down to clustering the rigid motion subspaces supported by the points' ...
Nuno Pinho da Silva, João Paulo Costeira
HAPTICS
2010
IEEE
13 years 9 months ago
A New Coupling Scheme for Haptic Rendering of Rigid Bodies Interactions Based on a Haptic Sub-world Using a Contact Graph
Interactions with virtual worlds using the sense of touch, called haptic rendering, have natural applications in many domains such as health or industry. For an accurate and realis...
Loeiz Glondu, Maud Marchal, Georges Dumont
WSCG
2001
202views more  WSCG 2001»
14 years 16 days ago
On Flexible Body Approximations of Rigid Body Dynamics
This paper demonstrates that techniques in flexible body dynamics can yield surprising results when applied to rigid bodies. The discussion presents a technique for constructing r...
John McDonald
SIGGRAPH
1989
ACM
14 years 3 months ago
Analytical methods for dynamic simulation of non-penetrating rigid bodies
A method for analytically calculating the forces between systems of rigid bodies in resting (non-colliding) contact is presented. The systems of bodies may either be in motion or ...
David Baraff
ICRA
2003
IEEE
129views Robotics» more  ICRA 2003»
14 years 4 months ago
Modeling the kinematics and dynamics of compliant contact
In this paper, we discuss the modeling of the kinematics and dynamics of compliant contact between bodies moving in Euclidean space. First, we derive the kinematic equations descr...
Vincent Duindam, Stefano Stramigioli
ADG
2004
Springer
108views Mathematics» more  ADG 2004»
14 years 4 months ago
Planar Generalized Stewart Platforms and Their Direct Kinematics
Abstract. In this paper, we introduce the concept of planar generalized Stewart platform (GSP) consisting of two rigid bodies connected with three constraints between three pairs o...
Gui-Fang Zhang, Xiao-Shan Gao
ICRA
2006
IEEE
128views Robotics» more  ICRA 2006»
14 years 5 months ago
Collision Detection of Cylindrical Rigid Bodies for Motion Planning
Abstract— This paper presents a novel methodology for detecting collisions of cylindrically shaped rigid bodies moving in three dimensions. This algorithm uses line geometry and ...
John Ketchell, Pierre M. Larochelle