2024
DOI: 10.3390/s24165248
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RobotSDF: Implicit Morphology Modeling for the Robotic Arm

Yusheng Yang,
Jiajia Liu,
Hongpeng Zhou
et al.

Abstract: The expression of robot arm morphology is a critical foundation for achieving effective motion planning and collision avoidance in robotic systems. Traditional geometry-based approaches usually suffer from the contradiction between the high demand for computing resources for fine expression and the insufficient detail expression caused by the pursuit of efficiency. The signed distance function addresses these drawbacks due to its ability to handle complex and arbitrary shapes and lower computational requiremen… Show more

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