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.
@article{arxiv.1911.07348,
title = {Robotic Sculpting with Collision-free Motion Planning in Voxel Space},
author = {Abhinav Jain and Seth Hutchinson and Frank Dellaert},
journal= {arXiv preprint arXiv:1911.07348},
year = {2019}
}