A minimum swept-volume metric structure for configuration space
Yann de Mont-Marin,Jean Ponce,Jean-Paul Laumond,Yann de Mont-Marin,Jean Ponce,Jean-Paul Laumond
Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure with well-defined and computable geodesics on its configuration space. This general result applies to concrete classes of articulated objects such as robot mani...
