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Theses

Planification de mouvement pour tiges élastiques

Abstract : The motion planning problem has been broadly studied in the case of articulated rigid body systems but so far few work have considered deformable bodies. In particular, elastic rods such as electric cables, hydraulic or pneumatic hoses, appear in many industrial contexts. Due to complex models and high number of degrees of freedom, the extension of motion planning methods to such bodies is a difficult problem. By taking advantage of the properties of static equilibrium configurations, this thesis presents several approaches to the motion planning problem for elastic rods.
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2015TOU30355b.pdf
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  • HAL Id : tel-01280258, version 2

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Olivier Roussel. Planification de mouvement pour tiges élastiques. Robotique [cs.RO]. Université Paul Sabatier - Toulouse III, 2015. Français. ⟨NNT : 2015TOU30355⟩. ⟨tel-01280258v2⟩

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