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dc.contributor.advisorDellaert, Frank
dc.contributor.authorJain, Abhinav
dc.date.accessioned2020-09-08T12:49:05Z
dc.date.available2020-09-08T12:49:05Z
dc.date.created2020-08
dc.date.issued2020-07-28
dc.date.submittedAugust 2020
dc.identifier.urihttp://hdl.handle.net/1853/63698
dc.description.abstractIn this work, I explore the task of robot sculpting. I propose a search-based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. I generate collision free trajectories for a manipulator using best-first search in two different material representations – a voxel representations and a subdivision surface representation. I also show significant speedup of the algorithm in the voxel representation by using octrees to decompose the voxel space. I demonstrate the algorithm on a multi-axis manipulator in simulation and on a physical robot by sculpting Michelangelo’s Statue of David.
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherGeorgia Institute of Technology
dc.subjectRobotics
dc.subjectMotion planning
dc.subjectMachining
dc.subjectCNC
dc.subjectSculpture
dc.subjectSculpting
dc.titleSearch-based collision-free motion planning for robotic sculpting
dc.typeThesis
dc.description.degreeM.S.
dc.contributor.departmentInteractive Computing
thesis.degree.levelMasters
dc.contributor.committeeMemberHutchinson, Seth
dc.contributor.committeeMemberBalakirsky, Stephen B.
dc.date.updated2020-09-08T12:49:05Z


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