Method and apparatus for controlling robots and the like using a

Details Method and apparatus for controlling robots and the like using a Method and apparatus for controlling robots and the like using a

1989-11-01

2000-07-18

Ruggiero, Joseph

Boots, shoes, and leggings

395 90, G06F 1900

Patent

active

060897422

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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