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Georgia Tech

1. Jain, Abhinav. Search-based collision-free motion planning for robotic sculpting.

Degree: MS, Interactive Computing, 2020, Georgia Tech

In 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. Advisors/Committee Members: Dellaert, Frank (advisor), Hutchinson, Seth (committee member), Balakirsky, Stephen B. (committee member).

Subjects/Keywords: Robotics; Motion planning; Machining; CNC; Sculpture; Sculpting

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Jain, A. (2020). Search-based collision-free motion planning for robotic sculpting. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/63698

Chicago Manual of Style (16th Edition):

Jain, Abhinav. “Search-based collision-free motion planning for robotic sculpting.” 2020. Masters Thesis, Georgia Tech. Accessed September 20, 2020. http://hdl.handle.net/1853/63698.

MLA Handbook (7th Edition):

Jain, Abhinav. “Search-based collision-free motion planning for robotic sculpting.” 2020. Web. 20 Sep 2020.

Vancouver:

Jain A. Search-based collision-free motion planning for robotic sculpting. [Internet] [Masters thesis]. Georgia Tech; 2020. [cited 2020 Sep 20]. Available from: http://hdl.handle.net/1853/63698.

Council of Science Editors:

Jain A. Search-based collision-free motion planning for robotic sculpting. [Masters Thesis]. Georgia Tech; 2020. Available from: http://hdl.handle.net/1853/63698

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