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arXiv · 1911.07348

Robotic Sculpting with Collision-free Motion Planning in Voxel Space

Abhinav Jain·Seth Hutchinson·Frank Dellaert
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Abstract

In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. We generate collision free trajectories for a manipulator using best-first search in voxel space. We also show significant speedup of our algorithm by using octrees to decompose the voxel space. We demonstrate our algorithm on a multi-axis manipulator in simulation by sculpting Michelangelo's Statue of David, evaluate certain metrics of our algorithm and discuss future goals for the project.

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Abhinav Jain, Seth Hutchinson, Frank Dellaert. 2019-11-17. Robotic Sculpting with Collision-free Motion Planning in Voxel Space. https://arxiv.org/abs/1911.07348

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