Interactive manipulation of articulated objects with geometry awareness
Techniques for interactive 3D manipulation of articulated objects in cluttered environments should be geometrically aware, going beyond basic inverse or forward kinematics to allow contact while preventing interpenetration. This paper describes a general purpose interactive object manipulation techn...
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Published in | Proceedings - IEEE International Conference on Robotics and Automation Vol. 1; pp. 592 - 598 vol.1 |
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Main Authors | , |
Format | Conference Proceeding Journal Article |
Language | English |
Published |
IEEE
1999
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Subjects | |
Online Access | Get full text |
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Summary: | Techniques for interactive 3D manipulation of articulated objects in cluttered environments should be geometrically aware, going beyond basic inverse or forward kinematics to allow contact while preventing interpenetration. This paper describes a general purpose interactive object manipulation technique using nonlinear optimization. The method converts geometry awareness into sets of inequality constraints and handles nonlinear equality and inequality constraints efficiently without restricting object topology. Our iterative algorithm has a quadratic convergence rate and each iteration can be solved in O(n/sub nz/(L)), where n/sub nz/(L) is the number of non-zeros in L, a Cholesky factor of a sparse matrix. To promote additional speedup, symbolic factorization is separated from numerical computation. Our approach provides a framework for using optimization techniques in interactive tools for building and manipulating models in constrained, cluttered environments. |
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Bibliography: | SourceType-Scholarly Journals-2 ObjectType-Feature-2 ObjectType-Conference Paper-1 content type line 23 SourceType-Conference Papers & Proceedings-1 ObjectType-Article-3 |
ISBN: | 9780780351806 0780351800 |
ISSN: | 1050-4729 2577-087X |
DOI: | 10.1109/ROBOT.1999.770040 |