Publication

Reaching volumes generated by means of octal trees and Cartesian constraints

Ronan Boulic
2003
Conference Papers

Abstract

We present a system to analyze the reachability of the human body. The inverse kinematics technique is employed to find which regions of space are reachable using a certain reach strategy. This information is stored in a data structure called volume approximation tree (VATree). This tree has proven itself to be an appropriate data structure for two reasons: it provides an efficient representation of the reachable volumes and it reduces the number of inverse kinematics simulations necessary for its construction. Once the VATrees are constructed for the different reach strategies, that information can be used to determine in real time which strategy is most suitable for a given reach task

Official source

https://infoscience.epfl.ch/entities/publication/9b3d26e9-2cbc-47d8-8855-7dbf5702734f

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Ronan Boulic
2003
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/9b3d26e9-2cbc-47d8-8855-7dbf5702734f

About this result

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Reaching volumes generated by means of octal trees and Cartesian constraints

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