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Proceedings Paper

Representing dextrous manipulators with the spherically extended polytope model
Author(s): Gregory J. Hamlin; Josep Tornero; Robert B. Kelley
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Paper Abstract

The spherically extended polytope (S-tope) model is an extension of the polytope model. Objects are represented as the convex hull of a set of spheres. An efficient algorithm for calculating the distance between s-topes is presented. The s-tope model is particularly well suited for modeling dextrous manipulators and other anthropomorphic forms. As a practical example, the Utah/MIT dextrous manipulator is represented using this method, and the time to calculate distances between the manipulator and various objects is measured.

Paper Details

Date Published: 1 March 1992
PDF: 14 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56757
Show Author Affiliations
Gregory J. Hamlin, Rensselaer Polytechnic Institute (United States)
Josep Tornero, Univ. Politecnica de Valencia (Spain)
Robert B. Kelley, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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