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Deformable Volumes in Path Planning Applications

Anshelevich, Elliot and Owens, Scott and Lamiraux, Florent and Kavraki, Lydia E. (2000) Deformable Volumes in Path Planning Applications. In: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings. IEEE, pp. 2290-2295. ISBN 0-7803-5886-4. (doi:10.1109/ROBOT.2000.846368) (The full text of this publication is not currently available from this repository. You may be able to access a copy if URLs are provided)

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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 searching the roadmap. We present experimental results that illustrate our approach. Our work finds important applications in industrial settings, in graphics animation, in virtual prototyping, and in medical applications.

Item Type: Book section
DOI/Identification number: 10.1109/ROBOT.2000.846368
Uncontrolled keywords: path planning; cables; assembly; application software; animation; virtual prototyping; catheters; computer science; solid modeling; shape
Subjects: Q Science > QA Mathematics (inc Computing science) > QA 76 Software, computer programming,
Divisions: Faculties > Sciences > School of Computing > Programming Languages and Systems Group
Depositing User: Scott Owens
Date Deposited: 05 Nov 2013 17:45 UTC
Last Modified: 23 Jul 2019 10:42 UTC
Resource URI: (The current URI for this page, for reference purposes)
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