Survey on model-based manipulation planning of deformable objects

• Published in: Robotics and computer-integrated manufacturing Vol. 28; no. 2; pp. 154 - 163
• Main Authors: Jim&, eacute, nez, P
• Format: Journal Article Publication
• Language: English
• Published: Elsevier Ltd 01.04.2012
• Subjects: Algorithms; Assembly; Categories; Deformable models; Deformable objects; Deformation; Formability; Informàtica; Manipuladors (Mecanismes); Manipulation planning; Manipulators (Mechanics); Mathematical models; Path planning; Prensió d'objectes; Robotic hands; Robotic manipulation; Robòtica; Strategy; Àrees temàtiques de la UPC; Deformable models; Manipulation planning; Robotic manipulation; Deformable objects
• ISSN: 0736-5845; 1879-2537
• DOI: 10.1016/j.rcim.2011.08.002

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. ► First survey devoted to model-based manipulation planning of deformable objects. ► Systematic presentation allows complete overview and fast consultation. ► Includes review on modeling deformable objects and collision detection. ► Categorizes planning by goal: path planning, folding, topology modification, assembly. ► Provides hints on possible future research directions.