Survey on model-based manipulation planning of deformable objects
A systematic overview on the subject of model-based manipulation planning of deformable objects is presented. Existing modelling techniques of volumetric, planar and linear deformable objects are described, emphasizing the different types of deformation. Planning strategies are categorized according...
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2012 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/15380 |
| Acceso en línea: | https://hdl.handle.net/2117/15380 https://dx.doi.org/10.1016/j.rcim.2011.08.002 |
| Access Level: | acceso abierto |
| Palabra clave: | Robotic hands Manipulators (Mechanics) Deformable objects Manipuladors (Mecanismes) Prensió d'objectes Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | A systematic overview on the subject of model-based manipulation planning of deformable objects is presented. Existing modelling techniques of volumetric, planar and linear deformable objects are described, emphasizing the different types of deformation. Planning strategies are categorized according to the type of manipulation goal: path planning, folding/unfolding, topology modifications and assembly. Most current contributions fit naturally into these categories, and thus the presented algorithms constitute an adequate basis for future developments. |
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