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Goal
Consider a deformable part in a constrained environment. The goal is
to compute a collision-free path between two given configurations of
this object.
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Applications
- Virtual Prototyping
- Manufacturing
- "Purposive" Computer Graphics Animation
- Computational Chemistry
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Resolution Scheme
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Mechanical Model
A mechanical model specifies how the deformable object behaves when
subjected to external actions. In this example, our object is a
plate made of an elastic material.
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Geometric Representation
The space of deformations of an object is usually infinite
dimensional. The goal of the geometric representation is to
approximate this huge space by a finite-dimensional sub-space. Two
representations are under investigation: Bézier surfaces and
cubic splines.
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Path Planning Once a mechanical model and a
geometric representation are chosen, we can specify the deformation
of the object by manipulation coonstraints. For instance on the
above picture, the plate is grasped by two opposite edges, so that
it bends. The shape of the object under manipulation constraints is
computed by minimizing the elastic energy. Once we know how to
generate deformed configurations, we can plan a path using a
randomized scheme called f-PRM.
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As an example, you can see a movie of a
path computed by our planner.
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Publications
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last modified 22.November.1999
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