A minimum swept-volume metric structure for configuration space

被引：0

作者：

De Mont-Marina, Yann ^{[1
,2
]}

Ponce, Jean ^{[2
,3
,4
]}

Laumonda, Jean-Paul ^{[1
,2
]}

机构：

[1] INRIA, Talence, France

[2] INRIA, CNRS, Dept Informat, Ecole Normale Super ENS PSL, Talence, France

[3] NYU, Ctr Data Sci, New York, NY USA

[4] NYU, Courant Inst, New York, NY USA

来源：

2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ICRA | 2023年

关键词：

LIE-GROUPS; DISTANCE;

D O I：

10.1109/ICRA48891.2023.10161367

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure with well-defined and computable geodesics on its configuration space. This general result applies to concrete classes of articulated objects such as robot manipulators, and we demonstrate as a proof of concept the computation of geodesic paths for a free flying rod and planar robotic arms as well as their use in path planning with many obstacles.

引用

页码：3686 / 3692

页数：7