Geometrically-Aware Interactive Object Manipulation

Simple item page
dc.contributor.authorChoi, Min-Hyungen_US
dc.contributor.authorCremer, James F.en_US
dc.date.accessioned2015-02-16T07:02:21Z
dc.date.available2015-02-16T07:02:21Z
dc.date.issued2000en_US
dc.description.abstractThis paper describes formulation and management of constraints, and a nonlinear optimization algorithm that together enable interactive geometrically aware manipulation of articulated objects. Going beyond purely kinematic or dynamic approaches, our solution method directly employs geometric constraints to ensure non-interpenetration during object manipulation. We present the formulation of the inequality constraints used to ensure nonpenetration, describe how to manage the set of active inequality constraints as objects move, and show how these results are combined with a nonlinear optimization algorithm to achieve interactive geometrically aware object manipulation. Our optimization algorithm handles equality and inequality constraints and does not restrict object topology. It is an efficient iterative algorithm, quadratically convergent, with each iteration bounded by O(nnz(L)), where nnz(L) is the number of non-zeros in L, a Cholesky factor of a sparse matrix.en_US
dc.description.number1en_US
dc.description.seriesinformationComputer Graphics Forumen_US
dc.description.volume19en_US
dc.identifier.doi10.1111/1467-8659.00388en_US
dc.identifier.issn1467-8659en_US
dc.identifier.pages65-76en_US
dc.identifier.urihttps://doi.org/10.1111/1467-8659.00388en_US
dc.publisherBlackwell Publishers Ltd and the Eurographics Associationen_US
dc.titleGeometrically-Aware Interactive Object Manipulationen_US
Files
Collections
Issue 1