@inproceedings{baa6770bc9fb458e83916fdf6eb42c42,
title = "AN OPTIMIZATION BASED APPROACH FOR DETERMINING WHETHER A SET OF ELEMENTARY CONTACTS IS GEOMETRICALLY FEASIBLE",
abstract = "The contact between two polyhedral objects can be represented with a set of elementary contacts - surface-vertex and edge-edge contacts. However, not all possible contact representations are geometrically possible. An equivalent optimization problem is posed to verify geometric feasibility. A steepest descent algorithm has been implemented and applied to two test cases - one feasible and one infeasible contact representation. The results of this work can be used to implement a predicate that verifies whether a contact representation is geometrically possible. The predicate can be used in a generate-and-test paradigm to synthesize the entire contact space.",
author = "Goeree, {Barry B.} and Fasse, {Ernest D.} and Marefat, {Michael M.}",
note = "Publisher Copyright: {\textcopyright} 1999 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 1999 International Mechanical Engineering Congress and Exposition, IMECE 1999 ; Conference date: 14-11-1999 Through 19-11-1999",
year = "1999",
doi = "10.1115/IMECE1999-0120",
language = "English (US)",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",
publisher = "American Society of Mechanical Engineers (ASME)",
pages = "883--889",
booktitle = "Dynamic Systems and Control",
}