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Deformable Volumes in Path Planning Applications Elliot Anshelevich Scott Owens Florent Lamiraux Lydia E. Kavraki
 

Summary: Deformable Volumes in Path Planning Applications
Elliot Anshelevich Scott Owens Florent Lamiraux Lydia E. Kavraki
Department of Computer Science, Rice University
Houston, TX 77005
Abstract
This paper addresses the problem of path planning for
a class of deformable volumes under fairly general manip-
ulation 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 ob-
ject with respect to the grasping constraints by minimizing
the energy function of the deformation of the object. Pre-
vious research in planning for deformable objects consid-
ered the case of elastic plates and proposed a randomized
framework for planning paths for plates under manipula-
tion constraints. The present paper modifies and extends
the previously proposed framework to handle simple vol-
umes. Our planner builds a roadmap in the configuration
space. The nodes of the roadmap are equilibrium configura-

  

Source: Anshelevich, Elliot - Department of Computer Science, Rensselaer Polytechnic Institute

 

Collections: Computer Technologies and Information Sciences