Precise contact motion planning for deformable planar curved shapes

We present a precise contact motion planning algorithm for a deformable robot in a planar environment with stationary obstacles. The robot and obstacles are both represented with C1 -continuous implicit or parametric curves. The robot is changing its shape using a single degree of freedom (via a one-parameter family of deformable curves). In order to reduce the dimensionality of the configuration space, geometrically constrained yet collision free contact motions are sought, that have K(= 2, 3) simultaneous tangential contact points between the robot and the obstacles. The K-contact motion analysis effectively reduces the degrees of freedom of the robot, which enables a more efficient motion planning. The geometric conditions for the K-contact motions can be formulated as a system of non-linear polynomial equations, which can be solved precisely using a multivariate equation solver. The solutions for K-contact motions are represented as curves in a 4-dimensional (x, y, θ, t) space,...

• Type: Journal
• Year: 2016
• Where: CAD
• Authors: Yong-Joon Kim, Gershon Elber, Myung-Soo Kim
• Keywords: CAD 2016, Theoretical Computer Science