Towards Planning for Elastic Objects
نویسندگان
چکیده
This paper investigates the problem of path planning for a thin elastic plate. The underlying geometric model for the plate is provided by a B ezier representation. The geometric model is augmented by a realistic mechanical model. The latter permits the computation of the shape of the plate with respect to a set of grasping constraints by minimizing the elastic energy of the deformation. We use a probabilistic roadmap planner to compute paths for the plate and we present a number of experimental results to illustrate our approach. Our work is a rst step towards considering the physical properties of objects when planning.
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