Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University.

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Presentation transcript:

Motion Planning: From Intelligent CAD to Computer Animation to Protein Folding Nancy M. Amato Parasol Lab,Texas A&M University

Motion Planning start goalobstacles (Basic) Motion Planning: Given a movable object and a description of the environment, find a sequence of valid configurations that moves it from the start to the goal. The Piano Movers Problem

Motion Planning start goalobstacles (Basic) Motion Planning: Given a movable object and a description of the environment, find a sequence of valid configurations that moves it from the start to the goal. The Alpha Puzzle

Motion Planning start goalobstacles (Basic) Motion Planning: Given a movable object and a description of the environment, find a sequence of valid configurations that moves it from the start to the goal. Example: Swapping boxes Objective: swap the positions of the blue and red boxes, the boxes are the ‘robot’, enclosing walls are ‘obstacles’

Hard Motion Planning Problems: Intelligent CAD Applications Using Motion Planning to Test Design Requirements: Accessibility for servicing/assembly tested on physical “mock ups”. Digital testing saves time and money, is more accurate, enables more extensive testing, and is useful for training (VR or e-manuals). Maintainability Problems: Mechanical Designs from GE

Hard Motion Planning Problems: Highly Articulated (Constrained) Systems Box FoldingPeriscope Folding

Soccer Ball: 31 dof Polyhedron: 25 dof Hard Motion Planning Problems: Highly Articulated (Constrained) Systems Digital Actors Closed Chain Paper Folding

Hard Motion Planning Problems: Group Behaviors for multiple robots Traversing a Narrow Passage A “shepherd” herding a flock of ducks

Hard Motion Planning Problems: Group Behaviors for multiple robots Covering

Hard Motion Planning Problems: Deformable Objects Find a path for a deformable object that can deform to avoid collision with obstacles deformable objects have infinite dof!

Hard Motion Planning Problems Computational Biology & Chemistry Drug Design - molecule docking Simulating Molecular Motions – study folding pathways & kinetics Protein Folding RNA Folding

More Applications & Movies Credits: My students: Burchan Bayazit (Asst prof, WUSTL, Guang Song (postdoc with Jernigan at Iowa State), Jyh-Ming Lien, Shawna Thomas, Marco Morales, Xinyu Tang, Dawen Xie, Roger Pearce, Sam Rodriguez & Ken Dill (UCSF) and Marty Scholtz (Texas A&M)