Rights accessRestricted access - publisher's policy
This work addresses the problem of real-time self-collision detection for a movable tensegrity structure. We show that it can be tackled as the collision detection between two generic cylinders moving in R3. It is
a simplified version of the more general problem of dynamic collision detection between two general shaped rigid bodies in the space. Two algorithms are proposed. The first presented approach is based on the exact value of the distance between two cylinders, the second is based on a new theorem which allows to estimate the exact distance for a given maximum desired error. In some circumstances, the second approach can be preferred because faster.
CitationCefalo, M.; Mirats, J. Real-time self-collision detection algorithms for tensegrity systems. "International journal of solids and structures", 05 Juny 2010, vol. 47, núm. 13, p. 1711-1722.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: email@example.com