A minimum swept-volume metric structure for configuration space - Inria - Institut national de recherche en sciences et technologies du numérique
Communication Dans Un Congrès Année : 2023

A minimum swept-volume metric structure for configuration space

Résumé

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.
Fichier principal
Vignette du fichier
main.pdf (2.66 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03856704 , version 1 (16-11-2022)
hal-03856704 , version 2 (21-11-2022)

Licence

Identifiants

Citer

Yann de Mont-Marin, Jean Ponce, Jean-Paul Laumond. A minimum swept-volume metric structure for configuration space. ICRA 2023 - IEEE International Conference on Robotics and Automation, May 2023, Londres, United Kingdom. pp.3686-3692, ⟨10.48550/arXiv.2211.11811⟩. ⟨hal-03856704v2⟩
114 Consultations
116 Téléchargements

Altmetric

Partager

More