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| | Explicit Links to Three Dimensional Shape |
 | | In three dimensions, there are six types of possible contact: plane-plane, plane-edge, plane-vertex, edge-edge, edge-vertex and vertex-vertex. |
 | | People also appear to have difficulty reasoning about motion in three independent dimensions, so limiting a robot reasoning system to two dimensions for actual motion planning may be an acceptable restriction if human-like performance is the goal. |
 | | In two dimensions, there are only three types of possible contacts between object boundaries: junction-junction, segment-segment, and junction-segment. |
| www.cl.cam.ac.uk /~afb21/publications/masters/node66.html (276 words) |
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