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Although medial axis transform is introduced as a shape description for many engineering applications, the computational algorithm is still challenging. This is especially true for the shape with free form boundary. This paper presents an algorithm for medial axis transform computation from a perspective of minimum distance between the points in a(More)
In this article, the serpentine gait of a snake robot with a camera at its head is simulated and the stability of the camera view is investigated. It is found that the camera view stability is low due to the large swinging amplitude of the snake robot head during locomotion. In order to improve the view stability, an optimization approach is proposed to(More)
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