Robotic Sculpting with Collision-free Motion Planning in Voxel Space
Abhinav Jain, Seth Hutchinson, Frank Dellaert

TL;DR
This paper presents a novel collision-free motion planning algorithm for robotic sculpting in voxel space, enabling efficient material removal with multi-axis manipulators, demonstrated through simulation of sculpting Michelangelo's David.
Contribution
The paper introduces a search-based planning algorithm utilizing octrees for faster collision-free trajectory generation in robotic sculpting tasks.
Findings
Significant speedup using octree decomposition
Successful simulation of sculpting Michelangelo's David
Effective collision-free trajectory planning in voxel space
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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Taxonomy
TopicsRobotic Path Planning Algorithms · Robotics and Sensor-Based Localization · Modular Robots and Swarm Intelligence
