Title :
Planning motion in completely deformable environments
Author :
Rodríguez, Samuel ; Lien, Jyh-Ming ; Amato, Nancy M.
Author_Institution :
Dept. of Comput. Sci., Texas A&M Univ., TX
Abstract :
Though motion planning has been studied extensively for rigid and articulated robots, motion planning for deformable objects is an area that has received far less attention. In this paper we present a framework for planning paths in completely deformable, elastic environments. We apply a deformable model to the robot and obstacles in the environment and present a kinodynamic planning algorithm suited for this type of deformable motion planning. The planning algorithm is based on the rapidly-exploring random tree (RRT) path planning algorithm. To the best of our knowledge, this is the first work that plans paths in totally deformable environments
Keywords :
path planning; robot dynamics; robot kinematics; trees (mathematics); deformable objects; kinodynamic planning algorithm; motion planning; rapidly-exploring random tree algorithm; robot; Application software; Bones; Computational modeling; Deformable models; Motion planning; Path planning; Robots; Shape; Surgery; Surgical instruments;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642072