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Scale-free Approximate Motion Planning

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Presentation on theme: "Scale-free Approximate Motion Planning"— Presentation transcript:

1 Scale-free Approximate Motion Planning
Michael De Rosa Claytronics Group Meeting 7/8/05

2 Talk Outline Algorithm Overview Current Problems & Proposed Solution
Basic Moves Smoothing Planning Current Problems & Proposed Solution Future Directions

3 Basic Moves

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13 Smoothing

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17 Demo: Basic Moves & Smoothing

18 Planning

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22 Demo: Circle to Rectangle

23 Demo: Bending Bar

24 Current Problem Large deformations within one pair of keyframes cause corners to pinch off, stranding large numbers of catoms

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27 Future Directions Transition to new simulator
Reimplement as proper distributed algorithm Benchmarking 3D extension Target: ICRA ‘06 (Sept 16th submission)

28 Questions/Comments?

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