Intelligent Systems Lab Amsterdam
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Contact Computations
ObjectiveWe 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 membersdr ir Leo Dorstand a strain of master's students FundingUniversity of AmsterdamResearch AchievementsWe 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 informationproject page |
| Maintained by Bas Terwijn. Last edited on Mon, 25 Jan 2010 13:38:54 +0100 |