Method and apparatus for controlling robots and the like using a bubble data hierarchy placed along a medial axis
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United States of America Patent
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-
Jul 18, 2000
Grant Date -
N/A
app pub date -
Nov 1, 1989
filing date -
Nov 1, 1989
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A robotic controller or similar machine represents the shape of an object as a hierarchy of bubbles. The position and radius of each of the bubbles is determined by first calculating the coordinates of the medial axis of the object and then creating a hierarchy of bubbles all of which are disposed on the medial axis. The bubbles may be generated using a top-down algorithm which sequentially places bubbles around portions of the object represented by sub-divisions of branches of the medial axis. Alternatively the bubbles may be placed by using a bottom-up algorithm which combines the smallest of a large number of bubbles centered on the medial axis with its smallest neighbor to generate successively higher level bubbles in the hierarchy.
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