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ICRA
2000
IEEE

Deformable Volumes in Path Planning Applications

10 years 3 months ago
Deformable Volumes in Path Planning Applications
This paper addresses the problem of path planning for a class of deformable volumes under fairly general manipulation constraints. The underlying geometric model for the volume is provided by a mass-spring representation. It is augmented by a realistic mechanical model. The latter permits the computation of the shape of the considered object with respect to the grasping constraints by minimizing the energy function of the deformation of the object. Previous research in planning for deformable objects considered the case of elastic plates and proposed a randomized framework for planning paths for plates under manipulation constraints. The present paper modifies and extends the previously proposed framework to handle simple volumes. Our planner builds a roadmap in the configuration space. The nodes of the roadmap are equilibrium configurations of the considered volume under the manipulation constraints, while its edges correspond to quasi-static equilibrium paths. Paths are found by ...
Elliot Anshelevich, Scott Owens, Florent Lamiraux,
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Elliot Anshelevich, Scott Owens, Florent Lamiraux, Lydia E. Kavraki
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