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ICRA
2005
IEEE

Constraint-Based Motion Planning of Deformable Robots

10 years 3 months ago
Constraint-Based Motion Planning of Deformable Robots
Abstract— We present a novel algorithm for motion planning of a deformable robot in a static environment. Given the initial and final configuration of the robot, our algorithm computes an approximate path using the probabilistic roadmap method. We use “constraint-based planning” to simulate robot deformation and make appropriate path adjustments and corrections to compute a collision-free path. Our algorithm takes into account geometric constraints like non-penetration and physical constraints like volume preservation. We highlight the performance of our planner on different scenarios of varying complexity.
Russell Gayle, Ming C. Lin, Dinesh Manocha
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Russell Gayle, Ming C. Lin, Dinesh Manocha
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