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Real-time self-collision detection algorithms for tensegrity systems

Autor
Cefalo, M.; Mirats, J.
Tipus d'activitat
Article en revista
Revista
International journal of solids and structures
Data de publicació
2010-06-05
Volum
47
Número
13
Pàgina inicial
1711
Pàgina final
1722
DOI
https://doi.org/10.1016/j.ijsolstr.2010.03.010 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/8226 Obrir en finestra nova
Resum
This work addresses the problem of real-time self-collision detection for a movable tensegrity structure. We show that it can be tackled as the collision detection between two generic cylinders moving in R3. It is a simplified version of the more general problem of dynamic collision detection between two general shaped rigid bodies in the space. Two algorithms are proposed. The first presented approach is based on the exact value of the distance between two cylinders, the second is based on a ne...
Citació
Cefalo, M.; Mirats, J. Real-time self-collision detection algorithms for tensegrity systems. "International journal of solids and structures", 05 Juny 2010, vol. 47, núm. 13, p. 1711-1722.
Paraules clau
Collisions detection Tensegrity Heuristic algorithm

Participants

  • Cefalo, Massimo  (autor)
  • Mirats Tur, Josep Maria  (autor)