@inproceedings{bdb96c09e5b145a58d8b34f31fbddb4d,
title = "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.}",
year = "1999",
language = "English (US)",
isbn = "0791816346",
series = "American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC",
publisher = "ASME",
pages = "883--889",
booktitle = "American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC",
note = "Dynamic Systems and Control Division - 1999 (The ASME International Mechanical Engineering Congress and Exposition) ; Conference date: 14-11-1999 Through 19-11-1999",
}