Efficient global penetration depth computation for articulated models ?
Novelty: The first global PD approach for high-DOF articulated models. Generality: Handling hybrid joints and links represented using polygonal models. Conservativeness: Guaranteeing that the configuration realizing PD is penetration free. Efficiency: Taking about 0.033 ms per runtime PD query in our experiments.
penetration depth articulated models configuration space support vector machine