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Article Dans Une Revue The International Journal of Robotics Research Année : 2001

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.
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Dates et versions

hal-02962879 , version 1 (09-10-2020)

Identifiants

  • HAL Id : hal-02962879 , version 1

Citer

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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