Results 171 to 180 of about 35,567 (199)

Quadric Conformal Geometric Algebra of R^{9,6}

2018
Geometric Algebra can be understood as a set of tools to represent, construct and transform geometric objects. Some Geometric Algebras like the well-de ned Conformal Geometric Algebra constructs lines, circles, planes, and spheres from control points just by using the outer product.
Breuils, Stephane, Nozick, Vincent, Sugimoto, Akihiro, Hitzer, Eckhard   +3 more
openaire   +1 more source

Kinematics and grasping using conformal geometric algebra

2006
In this paper we introduce the conformal geometric algebra in the field of robot grasping. It help us to tackle problems of object modelling, hand kinematics and vision system using a unifying geometric language. We present an grasp algorithm using velocity control.
J. Zamora-Esquivel, E. Bayro-Corrochano
openaire   +1 more source

Inverse Kinematics Solutions Using Conformal Geometric Algebra

2011
This paper describes a novel iterative Inverse Kinematics (IK) solver, FABRIK, that is implemented using Conformal Geometric Algebra (CGA). FABRIK uses a forward and backward iterative approach, finding each joint position via locating a point on a line. We use the IK of a human hand as an example of implementation where a constrained version of FABRIK
Andreas Aristidou, Joan Lasenby
openaire   +1 more source

Constrained Dynamics in Conformal and Projective Geometric Algebra

2020
In this paper we tackle the problem of constrained rigid body dynamics in the Conformal and Projective Geometric Algebras (CGA, PGA). First we construct a screw-theory based formulation of dynamics in CGA and note the equivalence between this and the PGA dynamics presented by Gunn in[1]. After verifying the formulation via simulation, we move on to the
Hadfield, H, Lasenby, J
openaire   +1 more source

Parameterization of 3D Conformal Transformations in Conformal Geometric Algebra

2010
Conformal geometric algebra is a powerful mathematical language for describing and manipulating geometric configurations and their conformal transformations. By providing a 5D algebraic representation of 3D geometric configurations, conformal geometric algebra proves to be very helpful in pose estimation, motion design, and neuron-based machine ...
openaire   +1 more source

Geometric Algebra Tensor Voting, Hough Transform, Voting and Perception Using Conformal Geometric Algebra

2018
The first section presents a non-iterative algorithm that combines the power of expression of geometric algebra with the robustness of Tensor Voting to find the correspondences between two sets of 3D points with an underlying rigid transformation. In addition, we present experiments of the conformal geometric algebra voting scheme using synthetic and ...
openaire   +1 more source

On the Use of Conformal Geometric Algebra in Geometric Constraint Solving

2011
To model a geometrical part in Computer Aided Design systems, declarative modeling is a well-adapted solution to declare and specify geometric objects and constraints. In this chapter, we are interested in the representation of geometric objects and constraints using a new language of description and representation, Geometric Algebra (GA).
Philippe Serré, Nabil Anwer, JianXin Yang   +2 more
openaire   +1 more source

Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra

Mechanism and Machine Theory, 2022
Isiah Zaplana, Hugo Hadfield, Joan Lasenby   +2 more
exaly  

Double Conformal Geometric Algebra

2021
openaire   +1 more source

An analytical method for corner smoothing of five-axis linear paths using the conformal geometric algebra

CAD Computer Aided Design, 2022
Yongxue Chen, pengsheng huang, Ye Ding
exaly