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Deformable robot motion planning in a reduced-dimension configuration space

Arthur Mahoney, Joshua Bross, David Johnson
2010 2010 IEEE International Conference on Robotics and Automation  
Motion planning of deformable objects is challenging due to the high degrees-of-freedom inherent in deformation as well as the computational cost of producing physically accurate deformations.  ...  This paper develops a method for fast, physically plausible deformations using a sampling-based planner in a reduced dimensionality configuration space containing position, orientation, and a reduced deformation  ...  (Other interesting research is being performed on motion planning in completely deformable environments [17] and on deformable motion planning for linear objects [13] .)  ... 
doi:10.1109/robot.2010.5509649 dblp:conf/icra/MahoneyBJ10 fatcat:gm2glzu4urcchk5w4iwx5azhl4

GOMP-ST: Grasp Optimized Motion Planning for Suction Transport [article]

Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg
2022 arXiv   pre-print
Maintaining a suction grasp throughout a high-speed motion requires balancing suction forces against inertial forces while the suction cups deform under strain.  ...  In this paper, we consider Grasp Optimized Motion Planning for Suction Transport (GOMP-ST), an algorithm that combines deep learning with optimization to decrease transport time while avoiding suction  ...  We thank our colleagues for their helpful feedback and suggestions. We thank Tae Myung Huh and Michael Danielczuk for their invaluable advice. We thank Adam Lau for his professional photography.  ... 
arXiv:2203.08359v1 fatcat:qeogrutrdjcvxc3icwb7k4cvam

Modeling, learning, perception, and control methods for deformable object manipulation

Hang Yin, Anastasia Varava, Danica Kragic
2021 Science Robotics  
Perceiving and handling deformable objects is an integral part of everyday life for humans.  ...  objects.  ...  ., involving multiple objects and their interactions (23) . Robust tracking is a prerequisite for feedback control and planning under occlusions and uncertainty.  ... 
doi:10.1126/scirobotics.abd8803 pmid:34043538 fatcat:3q54vpiprrcsnpffmbduj3fjrm

Synchronized multi-character motion editing

Manmyung Kim, Kyunglyul Hyun, Jongmin Kim, Jehee Lee
2009 ACM SIGGRAPH 2009 papers on - SIGGRAPH '09  
Our Laplacian motion editing method formulates the interaction among multiple characters as a collection of linear constraints and enforces the constraints, while the user directly manipulates the motion  ...  We demonstrate that the synchronized multiple character motions are synthesized and manipulated at interactive rates using spatiotemporal constraints.  ...  We are especially grateful to Taesoo Kwon for his valuable advice and sharing his Laplacian solver, and Kyungyong Yang for editing the accompanying video.  ... 
doi:10.1145/1576246.1531385 fatcat:6wgaozgn7fdszafjn2yaygz3va

Synchronized multi-character motion editing

Manmyung Kim, Kyunglyul Hyun, Jongmin Kim, Jehee Lee
2009 ACM Transactions on Graphics  
Our Laplacian motion editing method formulates the interaction among multiple characters as a collection of linear constraints and enforces the constraints, while the user directly manipulates the motion  ...  We demonstrate that the synchronized multiple character motions are synthesized and manipulated at interactive rates using spatiotemporal constraints.  ...  We are especially grateful to Taesoo Kwon for his valuable advice and sharing his Laplacian solver, and Kyungyong Yang for editing the accompanying video.  ... 
doi:10.1145/1531326.1531385 fatcat:t4icrvr6hbeqhgmdhuchkrevka

Cage-Based Tracking for Performance Animation [chapter]

Yann Savoye, Jean-Sébastien Franco
2011 Lecture Notes in Computer Science  
Our results show that estimated parameters allow a sufficient silhouette-consistent generation of the enclosed mesh under sparse frame-to-frame animation constraints and large deformation.  ...  This paper explores the potential of introducing harmonic cage-based linear estimation and deformation as post-process of current performance capture techniques used in 3D time-varying scene capture technology  ...  More precisely, we focus on the estimation of desired enclosed models in a linear manner preserving the smoothness of the cage under sparse linear subspace constraints.  ... 
doi:10.1007/978-3-642-19318-7_47 fatcat:worend3tprevlbv5g5rbcmu4gi

Survey on model-based manipulation planning of deformable objects

P. Jiménez
2012 Robotics and Computer-Integrated Manufacturing  
Existing modelling techniques of volumetric, planar and linear deformable objects are described, emphasizing the different types of deformation.  ...  A systematic overview on the subject of model-based manipulation planning of deformable objects is presented.  ...  Constraints expressed as contacts between specific primitives of the involved objects have to be considered in planning. Path planning for elastic objects General formulation.  ... 
doi:10.1016/j.rcim.2011.08.002 fatcat:n2j73wrpkvhfjkzd6uzzru6nqi

Multi-body Non-rigid Structure-from-Motion [article]

Suryansh Kumar, Yuchao Dai, Hongdong Li
2016 arXiv   pre-print
objects or deformable scenes from images.  ...  Recent progress have extended SFM to the areas of multi-body SFM (where there are multiple rigid relative motions in the scene), as well as non-rigid SFM (where there is a single non-rigid, deformable  ...  By contrast to existing methods, this endows us the following benefits: (i) A compact representation for component non-rigid deformation in 3D trajectory space; (ii) Joint multiple deformable objects motion  ... 
arXiv:1607.04515v1 fatcat:mlm3r4w6ljg25esdgb3y3d37iu

End-effector design optimisation and multi-robot motion planning for handling compliant parts

Emile Glorieux, Pasquale Franciosa, Darek Ceglarek
2017 Structural And Multidisciplinary Optimization  
There are multiple relevant aspects to consider when designing end-effectors to handle compliant parts, e.g. motion planning, holding force, part deformations, collisions, etc.  ...  A multi-disciplinary methodology for end-effector design optimisation and multi-robot motion planning for material handling of compliant parts is proposed.  ...  Nia and Volvo Cars Corporation for their support and industrial insights concerning sheet metal press lines.  ... 
doi:10.1007/s00158-017-1798-x fatcat:3eddo7nttzdxblvvjzwfmqcxuu

Fast Simulation of Deformable Models in Contact Using Dynamic Deformation Textures [article]

Nico Galoppo, Miguel A. Otaduy, Paul Mecklenburg, Markus Gross, Ming C. Lin
2006 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation - SCA '04  
We present a robust, parallelizable formulation for computing constraint forces using implicit methods that exploits the structure of the motion equations to achieve highly stable simulation, while taking  ...  We present an efficient algorithm for simulating contacts between deformable bodies with high-resolution surface geometry using dynamic deformation textures, which reformulate the 3D elastoplastic deformation  ...  for last-minute video editing and Mark Harris (NVIDIA) for GPGPU support.  ... 
doi:10.2312/sca/sca06/073-082 fatcat:lmpnxjqk6jfs3mugub6ytgvya4

Multi-Body Non-Rigid Structure-from-Motion

Suryansh Kumar, Yuchao Dai, Hongdong Li
2016 2016 Fourth International Conference on 3D Vision (3DV)  
(b) Joint reconstruction and motion segmentation of multiple deformable objects.  ...  Multiple nonrigid objects are commonly encountered in our daily lives, for example, in motion capture, multiple persons perform different activities with possible interactions (see Fig. 1 for example  ... 
doi:10.1109/3dv.2016.23 dblp:conf/3dim/KumarDL16 fatcat:n2bwo7t44rahjeqrumcww4ddhq

Model-Based Identification of Anatomical Boundary Conditions in Living Tissues [chapter]

Igor Peterlik, Hadrien Courtecuisse, Christian Duriez, Stéphane Cotin
2014 Lecture Notes in Computer Science  
magnitude of boundary conditions applied to the object in the deformed position.  ...  In this paper, we present a novel method dealing with the identification of boundary conditions of a deformable organ, a particularly important step for the creation of patient-specific biomechanical models  ...  We are aware of the fact that while different loading scenarios would further increase the accuracy of our method, it requires multiple acquisitions which are usually not available in humans.  ... 
doi:10.1007/978-3-319-07521-1_21 fatcat:3diu42h55vbxjduclkbyg7e4si

STAB 2020 Table of Contents

2020 2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)  
Polynomial-Based Trajectory Planning for Affine Dynamical Systems under State and Input Constraints 23 Gulyukina S., Utkin V.  ...  On the Solvability of Linear Matrix Inequalities under Quadratic Constraints 64 Rodnikov A.V.  ... 
doi:10.1109/stab49150.2020.9140538 fatcat:eu6ihhhpyvcpxesn7jnd7rknva

Toward automated tissue retraction in robot-assisted surgery

Sachin Patil, Ron Alterovitz
2010 2010 IEEE International Conference on Robotics and Automation  
Given a model of tissues in the vicinity, our method computes a motion plan for a 6-DOF gripper that grasps a tissue flap at an optimal location and retracts it such that an underlying target is fully  ...  The planner considers three optimization objectives relevant to medical applications: minimizing the maximum deformation energy, minimizing maximum stress, and minimizing the control effort in lifting  ...  Cenk Cavusoglu, Ken Goldberg, Wyatt Newman, and Pieter Abbeel for their valuable input on this problem.  ... 
doi:10.1109/robot.2010.5509607 dblp:conf/icra/PatilA10 fatcat:oem7kxrtizesxavkew35bvzml4

Motion adaptation for humanoid robots in constrained environments

Edmond S. L. Ho, Hubert P. H. Shum
2013 2013 IEEE International Conference on Robotics and Automation  
This paper presents a new method to synthesize full body motion for controlling humanoid robots in highly constrained environments.  ...  By preserving the spatial relationships while satisfying physical constraints, collision-free and well balanced motions can be generated automatically and efficiently.  ...  ACKNOWLEDGEMENT The authors would like to thank the anonymous reviewers for their constructive comments and suggestions. They also thank Mr.  ... 
doi:10.1109/icra.2013.6631113 dblp:conf/icra/HoS13 fatcat:wjx74km3ojb3pjd6gcy7npe7xe
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