Deformable volumes in path planning applications
Anshelevich, E.; Owens, S.; Lamiraux, F.; Kavraki, L.E.
Robotics and Automation, 2000. Proceedings. ICRA apos;00. IEEE International Conference on
Volume 3, Issue , 2000 Page(s):2290 - 2295 vol.3
Digital Object Identifier 10.1109/ROBOT.2000.846368
Summary: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
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