Show simple item record

dc.contributor.authorLam, Ngoc Tam
dc.contributor.supervisorLei Cuien_US
dc.contributor.supervisorIan Howarden_US

This thesis solved the path-planning problem of the Platonic solids and truncated icosahedron through edge-rolling on a plane with obstacle avoidance, which hitherto had not been solved. The BFS-based algorithm found the shortest paths for the Platonic solids on a prescribed plane while the RRT-based algorithm generated feasible paths with efficient tree exploration on a non-prescribed plane. The results can be readily applied to a variety of applications: path planning for general convex polyhedral, dexterous robotic in-hand manipulation, video games, and locomotion of polyhedral tensegrity robots.

dc.publisherCurtin Universityen_US
dc.titleDiscrete Path Planning for Convex Polyhedra through Edge-Rolling on a Planeen_US
curtin.departmentSchool of Civil and Mechanical Engineeringen_US
curtin.accessStatusFulltext not availableen_US
curtin.facultyScience and Engineeringen_US
curtin.contributor.orcidLam, Ngoc Tam [0000-0001-6478-5802]en_US

Files in this item


This item appears in the following Collection(s)

Show simple item record