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ICRA
2010
IEEE

Deformable robot motion planning in a reduced-dimension configuration space

13 years 8 months ago
Deformable robot motion planning in a reduced-dimension configuration space
Abstract-- Motion planning of deformable objects is challenging due to the high degrees-of-freedom inherent in deformation as well as the computational cost of producing physically accurate deformations. This paper develops a method for fast, physically plausible deformations using a sampling-based planner in a reduced dimensionality configuration space containing position, orientation, and a reduced deformation space produced using principal component analysis. A key element of the presented approach is the use of energy constraints in the configuration space designed to remove implausible deformations that may be produced by the principal component analysis dimension reduction process. This approach is tested on several deforming robot planning tasks, such as a sphere fitting through slots, a bendable bar in a maze, and a deforming plate in tunnels, with collision free paths using plausible deformations found in a few minutes.
Arthur Mahoney, Joshua Bross, David Johnson
Added 13 Feb 2011
Updated 13 Feb 2011
Type Journal
Year 2010
Where ICRA
Authors Arthur Mahoney, Joshua Bross, David Johnson
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