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History of Robotics Research and Development of Japan1991Integration, Intelligence, etc.A General Algorithm for Deriving Constraint of Contact between Polyhedra from Geometric Model

Hirohisa HIRUKAWAElectrotechnical Laboratory
Toshihiro MATSUIElectrotechnical Laboratory
Kunikatsu TAKASEThe University of Electro- Communications
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Hirohisa HIRUKAWA, Toshihiro MATSUI Kunikatsu, and TAKASE：A General Algorithm for Deriving Constraint of Contact between Polyhedra from Geometric Model

Journal of the RSJ, Vol. 9, No. 4, pp. 415-426, 1991 (in Japanese).

Related papers

[1] H.Hirukawa, T.Matsui and K.Takase, A Fast Algorithm for the Analysis of the Constraint for Motion of Polyhedra in Contact and its Application to Departure Motion Planning，Journal of the RSJ, Vol. 9, No. 7，pp. 841-848, 1991 (in Japanese).

[2] H.Hirukawa, T.Matsui and K.Takase: Automatic Determination of Possible Velocity and Applicable Force of Frictionless Objects in Contact from a Geometric Model, IEEE Trans. on Robotics and Automation, Vol.10, No.3, pp.309-322, 1994.

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