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...http://www.google.fr/patents/US6089742?utm_source=gb-gplus-shareBrevet US6089742 - Method and apparatus for controlling robots and the like using a bubble data hierarchy placed along a medial axis
Method and apparatus for controlling robots and the like using a bubble data ...
