Interactive simulation of one-dimensional flexible parts
Computer-Aided Design
Mesh Ensemble Motion Graphs: Data-driven mesh animation with constraints
ACM Transactions on Graphics (TOG)
Computational Geometry: Theory and Applications
On the Control of a Multi-robot System for the Manipulation of an Elastic Hose
IWINAC '09 Proceedings of the 3rd International Work-Conference on The Interplay Between Natural and Artificial Computation: Part II: Bioinspired Applications in Artificial and Natural Computation
Modeling deformable shell-like objects grasped by a robot hand
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Surgical retraction of non-uniform deformable layers of tissue: 2D robot grasping and path planning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Reachable Distance Space: Efficient Sampling-Based Planning for Spatially Constrained Systems
International Journal of Robotics Research
Modeling deformations of general parametric shells grasped by a robot hand
IEEE Transactions on Robotics
Survey on model-based manipulation planning of deformable objects
Robotics and Computer-Integrated Manufacturing
Geometric constraints on quadratic Bézier curves using minimal length and energy
Journal of Computational and Applied Mathematics
International Journal of Robotics Research
Soft robotics: Biological inspiration, state of the art, and future research
Applied Bionics and Biomechanics
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We present a new approach to path planning for deformable linear (one-dimensional) objects such as flexible wires. We introduce a method for efficiently computing stable configurations of a wire subject to manipulation constraints. These configurations correspond to minimal-energy curves. By restricting the planner to minimal-energy curves, the execution of a path becomes easier. Our curve representation is adaptive in the sense that the number of parameters automatically varies with the complexity of the underlying curve. We introduce a planner that computes paths from one minimal-energy curve to another such that all intermediate curves are also minimal-energy curves. This planner can be used as a powerful local planner in a sampling-based roadmap method. This makes it possible to compute a roadmap of the entire "shape space," which is not possible with previous approaches. Using a simplified model for obstacles, we can find minimal-energy curves of fixed length that pass through specified tangents at given control points. Our work has applications in cable routing, and motion planning for surgical suturing and snake-like robots