配置空間における最小掃引体積計量構造
A minimum swept-volume metric structure for configuration space
体積保存変形する剛体の掃引体積から配置空間に自然な計量を導入し、ロボットアームなどの測地線経路計画に応用した。
著者: Yann de Mont-Marin, Jean Ponce, Jean-Paul Laumond
分類: cs.RO
原文アブストラクト
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.
