@InProceedings{escande:icra:2016,
  author    = {Escande, Adrien and Brossette, Stanislas and Kheddar, Abderrahmane},
  title     = {Parametrization of Catmull-Clark subdivision surfaces for posture generation},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year      = {2016},
  pages     = {1608--1614},
  address   = {Stockholm, Sweden},
  month     = {May 16-May 21},
  url       = {https://hal.archives-ouvertes.fr/hal-01275693/document},
  keywords  = {Surface Modeling, Catmull-Clark Subdivision, Posture Generation},
  doi       = {10.1109/ICRA.2016.7487300},
  abstract  = {In this paper we propose a method to build a smooth and non-singular map from the unit sphere to a Catmull-Clark subdivision surface. We use a tailored raycasting algorithm to associate a point of the surface to each point of the sphere. This allows us to have smooth approximate representations for a large variety of (possibly non-convex) meshes that we can use to write numerically well-behaved constraints in gradient-based optimization. In particular, we address the writing of contact constraints between a robot and objects of its environment. We first detail our algorithm, taking care of speed and robustness, then show several use-cases for posture generations with a humanoid robot or a hand}
}