Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects
Yifei Dong,Florian T. Pokorny,Yifei Dong,Florian T. Pokorny
We present a sampling-based approach to reasoning about the caging-based manipulation of rigid and a simplified class of deformable 3D objects subject to energy constraints. Towards this end, we propose the notion of soft fixtures extending earlier work on energy-bounded caging to include a broader set of energy function constraints, such as gravitational and elastic potential energy of 3D deforma...
