Planning paths for elastic objects under manipulation constraints
Résumé
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.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)