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Motion planning: A journey of robots, molecules, digital actors, and other artifacts
- International Journal of Robotics Research
, 1999
"... During the last three decades motion planning has emerged as a crucial and productive research area in robotics. In the mid-80's the most advanced planners were barely able to compute collisionfree paths for objects crawling in planar workspaces. Today, planners e ciently deal with robots with ..."
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Cited by 79 (1 self)
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During the last three decades motion planning has emerged as a crucial and productive research area in robotics. In the mid-80's the most advanced planners were barely able to compute collisionfree paths for objects crawling in planar workspaces. Today, planners e ciently deal with robots with many degrees of freedom in complex environments. Techniques also exist to generate quasioptimal trajectories, coordinate multiple robots, deal with dynamic and kinematic constraints, and handle dynamic environments. This paper describes some of these achievements, presents new problems that have recently emerged, discusses applications likely to motivate future research, and nally gives expectations for the coming years. It stresses the fact that non-robotics applications (e.g., graphic animation, surgical planning, computational biology) are growing in importance and are likely to shape future motion planning research more than robotics itself. 1
Planning Paths for Elastic Objects Under Manipulation Constraints
- International Journal of Robotics Research
, 2001
"... This paper addresses the problem of planning paths for an elastic object from an initial to a final configuration in a static environment. It is assumed that the object is manipulated by two actuators and that it does not touch the obstacles in its environment at any time. The object may need to ..."
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Cited by 53 (9 self)
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This paper addresses the problem of planning paths for an elastic object from an initial to a final configuration in a static environment. It is assumed that the object is manipulated by two actuators and that it does not touch the obstacles in its environment at any time. The object may need to deform in order to achieve a collision-free path from the initial to the final configuration. Any required deformations are automatically computed by our planner according to the principles of elasticity theory from mechanics. The problem considered in this paper differs significantly from that of planning for a rigid or an articulated object. In the first part of the paper we point out these differences and highlight the reasons that make planning for elastic objects an extremely difficult task. We then present a randomized algorithm for computing collision-free paths for elastic objects under the above-mentioned restrictions of manipulation.
Algorithmic Motion Planning
, 1997
"... INTRODUCTION Motion planning is a fundamental problem in robotics. It comes in a variety of forms, but the simplest version is as follows. We are given a robot system B, which may consist of several rigid objects attached to each other through various joints, hinges, and links, or moving independen ..."
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Cited by 46 (6 self)
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INTRODUCTION Motion planning is a fundamental problem in robotics. It comes in a variety of forms, but the simplest version is as follows. We are given a robot system B, which may consist of several rigid objects attached to each other through various joints, hinges, and links, or moving independently, and a two-dimensional or threedimensional environment V cluttered with obstacles. We assume that the shape and location of the obstacles and the shape of B are known to the planning system. Given an initial placement Z 1 and a nal placement Z 2 of B, we wish to determine whether there exists a collision-avoiding motion of B from Z 1 to Z 2 , and, if so, to plan such a motion. In this simpli ed and purely geometric setup, we ignore issues such as incomplete information, nonholonomic constraints, control issues related to inaccuracies in sensing and motion, nonstationary obstacles, optimality of the planned motion, and so on. Since the early 1980's, motion planning has been an intensiv
A General Framework for Assembly Planning: The Motion Space Approach
, 1998
"... Assembly planning is the problem of finding a sequence of motions to assemble a product from its parts. We present a general framework for finding assembly motions based on the concept of motion space. Assembly motions are parameterized such that each point in motion space represents a mating motion ..."
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Cited by 42 (5 self)
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Assembly planning is the problem of finding a sequence of motions to assemble a product from its parts. We present a general framework for finding assembly motions based on the concept of motion space. Assembly motions are parameterized such that each point in motion space represents a mating motion that is independent of the moving part set. For each motion we derive blocking relations that explicitly state which parts collide with other parts; each subassembly (rigid subset of parts) that does not collide with the rest of the assembly can easily be derived from the blocking relations. Motion space is partitioned into an arrangement of cells such that the blocking relations are fixed within each cell. In the first part of the paper we give background material, present the motion space approach and describe applications of the approach to assembly motions of several useful types, including one-step translations, multi-step translations, and infinitesimal rigid motions. Several efficien...
Path planning for deformable linear objects
- IEEE Transactions on Robotics
"... Abstract—We present a new approach to path planning for deformable linear (one-dimensional) objects such as flexible wires. We introduce a method for efficiently computing stable configurations of a wire subject to manipulation constraints. These configurations correspond to minimal-energy curves. B ..."
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Cited by 39 (0 self)
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Abstract—We present a new approach to path planning for deformable linear (one-dimensional) objects such as flexible wires. We introduce a method for efficiently computing stable configurations of a wire subject to manipulation constraints. These configurations correspond to minimal-energy curves. By restricting the planner to minimal-energy curves, the execution of a path becomes easier. Our curve representation is adaptive in the sense that the number of parameters automatically varies with the complexity of the underlying curve. We introduce a planner that computes paths from one minimal-energy curve to another such that all intermediate curves are also minimal-energy curves. This planner can be used as a powerful local planner in a sampling-based roadmap method. This makes it possible to compute a roadmap of the entire “shape space, ” which is not possible with previous approaches. Using a simplified model for obstacles, we can find minimal-energy curves of fixed length that pass through specified tangents at given control points. Our work has applications in cable routing, and motion planning for surgical suturing and snake-like robots. Index Terms—Deformation, differential geometry, flexible manipulation, flexible object representation, minimal-energy curves, modeling, motion planning, path planning. I.
Assembly Sequencing with Toleranced Parts
, 1995
"... The goal of assembly sequencing is to plan a feasible series of operations to construct a product from its individual parts. Previous research has investigated assembly sequencing under the assumption that parts have nominal geometry. This paper considers the case where parts have toleranced geom ..."
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Cited by 31 (4 self)
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The goal of assembly sequencing is to plan a feasible series of operations to construct a product from its individual parts. Previous research has investigated assembly sequencing under the assumption that parts have nominal geometry. This paper considers the case where parts have toleranced geometry. Its main contribution is an efficient procedure that decides if a product admits an assembly sequence with infinite translations (i.e., translations that can be extended arbitrarily far along a fixed direction) that is feasible for all possible instances of the components within the specified tolerances. If the product admits one such sequence, the procedure can also generate it. For the cases where there exists no such assembly sequence, another procedure is proposed which generates assembly sequences that are feasible only for some values of the toleranced dimensions. If this procedure produces no such sequence, then no instance of the product is assemblable. These two proced...
Manufacturing Feature Recognition from Solid Models: A Status Report
- IEEE Transactions on Robotics and Automation
, 2000
"... The field of solid modeling has developed a variety of techniques for unambiguous representations of three-dimensional objects. Feature recognition is a sub-discipline of solid modeling that focuses on the design and implementation of algorithms for detecting manufacturing information from solid mod ..."
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Cited by 31 (1 self)
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The field of solid modeling has developed a variety of techniques for unambiguous representations of three-dimensional objects. Feature recognition is a sub-discipline of solid modeling that focuses on the design and implementation of algorithms for detecting manufacturing information from solid models produced by computer-aided design (CAD) systems. Examples of this manufacturing information include features such as holes, slots, pockets and other shapes that can be created on modern computer numerically controlled machining systems.
Folding Cartons with Fixtures: A Motion Planning Approach
, 2000
"... Packaging products such as telephones and two-way radios after assembly is a common manufacturing task. Carton folding is a packaging operation typically performed by human operators or with fixed automation. We present a flexible method to fold cardboard cartons using fixtures; a carton blank is fo ..."
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Cited by 25 (1 self)
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Packaging products such as telephones and two-way radios after assembly is a common manufacturing task. Carton folding is a packaging operation typically performed by human operators or with fixed automation. We present a flexible method to fold cardboard cartons using fixtures; a carton blank is folded by moving it through a fixture with a robot. This method uses interchangeable fixtures to enable rapid changeovers between product models. We outline an approach to design a fixture given a carton and a folding sequence. We present an implemented motion planning algorithm that generates all folding sequences for a carton by modeling it kinematically as a many degree-of-freedom robot manipulator with revolute joints and branching links. Folding fixtures constrain the carton motion to paths consisting of line segments in its configuration space. We characterize the set of valid paths for these carton robots and generate them using the motion planner. To illustrate the method, we selected a folding sequence for an example carton, designed a fixture, and demonstrated folding of the carton from blanks with an industrial robot.
Disassembly Sequencing Using a Motion Planning Approach
- In Proc. IEEE Int. Conf. Robot. Autom. (ICRA
, 2001
"... We propose a new approach for generating disassembly sequences. Our motion planning based approach treats the parts in the assembly as robots and operates in the composite configuration space of the parts' individual configuration spaces. Randomized techniques inspired by recent motion planning ..."
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Cited by 24 (2 self)
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We propose a new approach for generating disassembly sequences. Our motion planning based approach treats the parts in the assembly as robots and operates in the composite configuration space of the parts' individual configuration spaces. Randomized techniques inspired by recent motion planning methods are used to sample configurations in this space. Since typical assemblies consist of many parts, the corresponding composite C-spaces have high dimensionality. Also, since many important configurations for the disassembly sequence will involve closely packed parts, the disassembly problem suffers from the so-called narrow passage problem. Since random sampling in this situation would not be effective, we bias the sampling by computing potential movement directions based on the geometric characteristics of configurations known to be reachable from the assembled configuration (the start). For example, we select potential directions which are perpendicular to part faces. Thus, we construct a disassembly tree which is rooted at the starting assembled configuration. Our experimental results with several non-trivial puzzle-like assemblies (12-72 dof) show the potential of this approach.
