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Date
2020-07-08Type
- Journal Article
Citations
Cited 18 times in
Web of Science
Cited 19 times in
Scopus
ETH Bibliography
yes
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Abstract
© 2020 ACM. Hot-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. Show more
Publication status
publishedExternal links
Journal / series
ACM Transactions on GraphicsVolume
Pages / Article No.
Publisher
Association for Computing MachineryOrganisational unit
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication09620 - Coros, Stelian / Coros, Stelian
09620 - Coros, Stelian / Coros, Stelian
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Show all metadata
Citations
Cited 18 times in
Web of Science
Cited 19 times in
Scopus
ETH Bibliography
yes
Altmetrics