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Contact Computations
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Contact Computations
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Objective
We study the computations of contact between bodies, a problem
originally motivated by robotic collision avoidance.
We use a mathematical transform to bring the problem into
simpler form; and aim to convert that into faster algorithms.
Research group members
dr ir Leo Dorst
and a strain of master's students
Funding
University of Amsterdam
Research Achievements
We have developed the slope transform as a generalization of the Legendre
transform suited to dealing with contact of non-convex objects. This
has been extended to a coordinate-free object representation as the
normal transform, which is a projective dual.
Recently, formulations
in terms of geometric algebra appear promising. The Legendre transform
formulation is strongly analogous to the
Fourier transform for linear filtering (see references).
More information
project page
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