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Planning paths for elastic objects under manipulation constraints

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Academic year: 2021

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Figure

Figure 1: Snapshots along the path of an elasti plate omputed by our planner. The box is shown
Figure 2: Snapshots along a path omputed by our planner for positioning a metalli belt in a pipe assembly of a ar
Figure 3: Manipulating an obje t onsists in onstraining the position of a given subset V p 0
Figure 4: Manipulation onstraints are sampled and energy minimization is performed for ea h sample point m
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