Semi-Infinite Programming with Complementarity Constraints for Pose Optimization with Pervasive Contact
Mengchao Zhang Kris Hauser Mengchao Zhang Kris Hauser
This paper presents a novel computational model to address the problem that contact is an infinite phenomena involving continuous regions of interaction. The problem is cast as a semi-infinite program with complementarity constraints (SIPCC). Rather than pre-discretize contacting surfaces into a finite number of contact points, we use semi-infinite programming (SIP) techniques that operate on the ...