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dc.contributor.author
Duenser, Simon
dc.contributor.author
Poranne, Roi
dc.contributor.author
Thomaszewski, Bernhard
dc.contributor.author
Coros, Stelian
dc.date.accessioned
2020-09-15T14:04:34Z
dc.date.available
2020-09-15T03:49:58Z
dc.date.available
2020-09-15T14:04:34Z
dc.date.issued
2020-07-08
dc.identifier.issn
0730-0301
dc.identifier.issn
1557-7368
dc.identifier.other
10.1145/3386569.3392465
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/440507
dc.description.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.
en_US
dc.language.iso
en
en_US
dc.publisher
Association for Computing Machinery
en_US
dc.title
RoboCut: Hot-wire Cutting with Robot-controlled Flexible Rods
en_US
dc.type
Journal Article
ethz.journal.title
ACM Transactions on Graphics
ethz.journal.volume
39
en_US
ethz.journal.issue
4
en_US
ethz.journal.abbreviated
ACM trans. graph.
ethz.pages.start
98
en_US
ethz.size
15 p.
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
New York, NY
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
ethz.date.deposited
2020-09-15T03:50:04Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2020-09-15T14:04:46Z
ethz.rosetta.lastUpdated
2021-02-15T17:15:41Z
ethz.rosetta.versionExported
true
ethz.COinS
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