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Fast contact detection between moving deformable polyhedra

Ammar Joukhadar 1 Alexis Scheuer 1 Christian Laugier 1
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : This paper presents an approach to detect and localize contact between deformable polyhedra, which can be convex or concave depending on the time step. Usual contact detection algorithms, defined for convex polyhedra, cannot be used efficiently as they would imply to compute the convex decomposition of the considered polyhedra at each time step, as it can change due to the deformability of these polyhedra. The computation of this convex decomposition being very expensive (in complexity and computation time), we propose an algorithm to detect and localize the contact in linear time wrt the number of vertices. This algorithm returns the direction of this contact and the value of the maximum intersection distance between the convex hulls of the two considered polyhedra. Experimental results, taken from a dynamic simulation application, are presented with their computation time to complete the complexity analysis.
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https://hal.inria.fr/inria-00000012
Contributor : Alexis Scheuer <>
Submitted on : Thursday, May 12, 2005 - 6:31:26 PM
Last modification on : Monday, December 28, 2020 - 3:44:01 PM

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Ammar Joukhadar, Alexis Scheuer, Christian Laugier. Fast contact detection between moving deformable polyhedra. IEEE-RSJ Int. Conf. on Intelligent Robots and Systems, Korea Advanced Institute of Science and Technology, Oct 1999, Kyongju (KR), South Korea. pp.1810-1815, ⟨10.1109/IROS.1999.811741⟩. ⟨inria-00000012⟩

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