A Simple Characterization of the Infinitesimal Motions Separating General Polyhedra in Contact

A Characterization of the Infinitesimal Conformal Transformations on Tangent Bundles

Modelling Decision Problems Via Birkhoff Polyhedra

A compact formulation of the set of tours neither in a graph nor its complement is presented and illustrates a general methodology proposed for constructing polyhedral models of decision problems based upon permutations, projection and lifting techniques. Directed Hamilton tours on n vertex graphs are interpreted as (n-1)- permutations. Sets of extrema of Birkhoff polyhedra are mapped to tours ...

A Divide-and-Merge Approach to Automatic Generation of Contact States and Planning of Contact Motion

Planning contact motion is important for many robotic tasks but di cult in general due to high variability and geometrical complexity of contact states. It is desirable to decompose the problem into simpler subproblems. A promising decomposition treats the problem as consisting of (1) automatic generation of a discrete contact state graph, and (2) planning contact transitions between neighborin...

A note on the problem when FS-domains coincide with RB-domains

In this paper, we introduce the notion of super finitely separating functions which gives a characterization of RB-domains. Then we prove that FS-domains and RB-domains are equivalent in some special cases by the following three claims: a dcpo is an RB-domain if and only if there exists an approximate identity for it consisting of super finitely separating functions; a consistent join-semilatti...

Extracting Robotic Part-mating Programs from Operator Interaction with a Simulated Environment

We describe an integrated system for programming part-mating and contact tasks using simulation. A principal goal of this work is to make robotic programming easy and intuitive for untrained users. Using simulation, an operator can specify part placement and contact motions by simply “putting things where they belong”, without resorting to textual descriptions. We describe the simulation system...