Parametrization of Catmull-Clark Subdivision Surfaces for Posture GenerationReportar como inadecuado

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1 CNRS-AIST JRL - Joint Robotics Laboratory Japan 2 IDH - Interactive Digital Humans LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier

Abstract : In this paper we propose a method to build a smooth and non-singular map from the unit sphere to a Catmull-Clark subdivision surface. We use a tailored ray-casting algorithm to associate a point of the surface to each point of the sphere. This allows us to have smooth approximate representations for a large variety of possibly non-convex meshes that we can use to write numerically well-behaved constraints in gradient-based optimization. In particular, we address the writing of contact constraints between a robot and objects of its environment. We first detail our algorithm, taking care of speed and robustness, then show several use-cases for posture generations with a humanoid robot or a hand.

Autor: Adrien Escande - Stanislas Brossette - Abderrahmane Kheddar -



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