Survey on model-based manipulation planning of deformable objects

被引：93
作者：
Jimenez, P. [1 ]
机构：
[1] Inst Robbt Informat Ind CSIC UPC, E-08028 Barcelona, Spain
来源：
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2012年 / 28卷 / 02期
关键词：
Robotic manipulation; Manipulation planning; Deformable objects; Deformable models; COLLISION DETECTION; GENERATION; SIMULATION; SYSTEM; PATHS;
D O I：
10.1016/j.rcim.2011.08.002
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
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. (C) 2011 Elsevier Ltd. All rights reserved.
引用
收藏
页码：154 / 163
页数：10
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