Name
Abstract | ||
|---|---|---|
AbstractHot-wire cutting is a subtractive fabrication technique used to carve foam and similar materials. Conventional machines rely on straight wires and are thus limited to creating piecewise ruled surfaces. In this work, we propose a method that exploits a dual-arm robot setup to actively control the shape of a flexible, heated rod as it cuts through the material. While this setting offers great freedom of shape, using it effectively requires concurrent reasoning about three tightly coupled sub-problems: 1) modeling the way in which the shape of the rod and the surface it sweeps are governed by the robot's motions; 2) approximating a target shape through a sequence of surfaces swept by the equilibrium shape of an elastic rod; and 3) generating collision-free motion trajectories that lead the robot to create desired sweeps with the deformable tool. We present a computational framework for robotic hot wire cutting that addresses all three sub-problems in a unified manner. We evaluate our approach on a set of simulated results and physical artefacts generated with our robotic fabrication system. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1145/3386569.3392465 | ACM Transactions on Graphics |
Keywords | DocType | Volume |
Computer graphics, robotics, fabrication, sensitivity analysis | Journal | 39 |
Issue | ISSN | Citations |
4 | 0730-0301 | 1 |
PageRank | References | Authors |
0.35 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Simon Duenser | 1 | 1 | 1.03 |
| Roi Poranne | 2 | 142 | 11.86 |
| Bernhard Thomaszewski | 3 | 801 | 40.86 |
| Stelian Coros | 4 | 862 | 56.47 |