Publication

Survey on model-based manipulation planning of deformable objects

Journal Article (2012)

Journal

Robotics and Computer-Integrated Manufacturing

Pages

154-163

Volume

28

Number

2

Doc link

http://dx.doi.org/10.1016/j.rcim.2011.08.002

File

Download the digital copy of the doc pdf document

Abstract

A systematic overview on the subject of model-based manipulation planning of deformable objects is presented. Existing modeling 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.

Categories

intelligent robots, manipulators, robot programming, service robots.

Author keywords

robotic manipulation, manipulation planning, deformable objects, deformable models

Scientific reference

P. Jiménez. Survey on model-based manipulation planning of deformable objects. Robotics and Computer-Integrated Manufacturing, 28(2): 154-163, 2012.