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Description
We present a new algorithm to compute a collision-free trajectory for a robot manipulator to pour liquid from one container to the other. Our formulation uses a physical fluid model to simulate its highly deformable motion. We present a simulation guided and optimization based method to automatically compute the transferring trajectory. We use the full-featured and accurate Navier-Stokes model that provides the fine-grained information of velocity distribution inside the liquid body. Moreover, this information is used as an additional guiding energy term for the planner. Our approach includes a tight integration between the fine-grained fluid simulator, liquid transfer controller, and the optimization-based planner. We have implemented the method using a hybrid particle-mesh fluid simulator (FLIP) and demonstrated its performance on 4 benchmarks with different cup shapes and viscosity coefficients.
Publication
Robot Motion Planning for Pouring Liquids
Zherong Pan, Chonhyon Park, and Dinesh Manocha
The 26th International Conference on Automated Planning and Scheduling (ICAPS) 2016,
[PDF]
Motion Planning for Fluid Manipulation using Simplified Dynamics
Zherong Pan, and Dinesh Manocha
The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
[PDF]
Video
Download Video: [MP4]