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Planning paths for elastic objects under manipulation constraints

Florent Lamiraux 1 Lydia Kavraki 2 
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper addresses the problem of planning paths for an elasticobject from an initial to a final configuration in a static environ-ment. It is assumed that the object is manipulated by two actuatorsand that it does not touch the obstacles in its environment at anytime. The object may need to deform to achieve a collision-free pathfrom the initial to the final configuration. Any required deformationsare automatically computed by the planner according to the prin-ciples of elasticity theory from mechanics. The problem consideredin this paper differs significantly from that of planning for a rigidor an articulated object. In the first part of the paper, the authorspoint out these differences and highlight the reasons that make plan-ning for elastic objects an extremely difficult task. The authors thenpresent a randomized algorithm for computing collision-free pathsfor elastic objects under the above-mentioned restrictions of manip-ulation. The paper includes a number of experimental results. Thework is motivated by the need to consider the physical propertiesof objects while planning and has applications in industrial prob-lems, in maintainability studies, in virtual reality environments, andin medical surgical settings.
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https://hal.laas.fr/hal-02962879
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Submitted on : Friday, October 9, 2020 - 3:27:30 PM
Last modification on : Tuesday, October 25, 2022 - 11:58:11 AM
Long-term archiving on: : Sunday, January 10, 2021 - 6:49:44 PM

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  • HAL Id : hal-02962879, version 1

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Florent Lamiraux, Lydia Kavraki. Planning paths for elastic objects under manipulation constraints. The International Journal of Robotics Research, 2001, 20 (3), pp.188-208. ⟨hal-02962879⟩

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