Objective Functions of Principal Contact Estimation from Motion Based on the Geometrical Singular Condition
Seiya Ishikawa,Shouhei Shirafuji,Jun Ota,Seiya Ishikawa,Shouhei Shirafuji,Jun Ota
In this paper, we propose objective functions to estimate the principal contact between a unknown manipulated target object and its unknown surroundings from the motion of the object. We derived the objective functions based on the fact that contact involves a pair of geometrical primitives (a point of vertex, a line of edge, and a plane of face) for the singular condition of the calculation for t...
