2 papers
cs.RO2025
On the Conic Complementarity of Planar Contacts
Yann de Mont-Marin, Louis Montaut, Jean Ponce +2
We present a unifying theoretical result that connects two foundational principles in robotics: the Signorini law for point contacts, which underpins many simulation methods for pr…
cs.RO2022
A minimum swept-volume metric structure for configuration space
Yann de Mont-Marin, Jean Ponce, Jean-Paul Laumond
Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preser…