4 accepted papers
We present a unifying theoretical result that con- nects two foundational principles in robotics: the Signorini law for point contacts, which underpins many simulation methods for preventing object interpenetration, and the center of pres- sure (also known as the zero-moment point), a key concept in…
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear Complementarity Problems (NCPs) in the context of rigid or compliant p…
Collision detection is an important component of many robotics applications, from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only recently that the question of properly differentiating collision detection ha…
Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has been often tackled as a computational geometry problem, with the Gilbert, Johnson and Keerthi (GJK) algorithm being the most common approach today. In this work we show that co…