Efficient motion planning for quasi-static elastic rods using geometry neighborhood approximation

Olivier Roussel, Michel Taïx, Timothy Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a motion planning algorithm for a quasi-static Kirchhoff elastic rod in complex environments. As the set of quasi-static deformations defines a finite dimensional manifold that can be parameterized by a single chart, the configuration space formulation extends nicely to this deformation space. This parameterization is computationally expensive and our algorithm takes advantage of its linearization to perform fast collision checking in its neighborhood. In the context of physically realistic deformable rods, the efficiency of this approximation can be coupled with motion planning techniques to obtain significant performance improvements. We demonstrate the effectiveness of our approach on various toy and industrial scenarios.

Original languageEnglish (US)
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1024-1029
Number of pages6
ISBN (Print)9781479957361
DOIs
StatePublished - 2014
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: Jul 8 2014Jul 11 2014

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period7/8/147/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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