Calculating possible local displacement of curve objects using improved screw theory

@inproceedings{Takamatsu2003CalculatingPL,
  title={Calculating possible local displacement of curve objects using improved screw theory},
  author={Jun Takamatsu and Koichi Ogawara and Hiroshi Kimura and Katsushi Ikeuchi},
  booktitle={ICRA},
  year={2003}
}
Various methods to recognize assembly tasks using possible local displacement of objects have been proposed. To calculate this displacement, the screw theory is employed. It is equivalent to the first order Taylor expansion of the displacement. However, such methods can treat polyhedral objects only. Because the screw theory cannot treat curvature information of objects. In this paper, we propose a method to calculate possible local displacement of curve objects using improved screw theory… CONTINUE READING

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