Robotic Sculpting with Collision-free Motion Planning in Voxel Space
This work addresses robotic sculpting for automation in manufacturing or art, but it appears incremental as it builds on existing motion planning and voxel-based methods.
The paper tackles robotic sculpting by material removal using a multi-axis manipulator, proposing a search-based planning algorithm that generates collision-free trajectories in voxel space and achieves significant speedup with octree decomposition, demonstrated in simulation by sculpting Michelangelo's Statue of David.
In this paper, we explore the task of robot sculpting. We propose a search based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. We generate collision free trajectories for a manipulator using best-first search in voxel space. We also show significant speedup of our algorithm by using octrees to decompose the voxel space. We demonstrate our algorithm on a multi-axis manipulator in simulation by sculpting Michelangelo's Statue of David, evaluate certain metrics of our algorithm and discuss future goals for the project.