Abstract
We present a new algorithm to compute a collision-free trajectory for a robot manipulator to pour liquid from one container to the other. Our formulation uses a physical fluid model to predicate its highly deformable motion. We present simulation guided and optimization based method to automatically compute the transferring trajectory. Instead of abstract or simplified liquid models, we use the full-featured and accurate Navier-Stokes model that provides the fine-grained information of velocity distribution inside the liquid body. Moreover, this information is used as an additional guiding energy term for the planner. One of our key contributions is the tight integration between the fine-grained fluid simulator, liquid transfer controller, and the optimization-based planner. We have implemented the method using hybrid particle-mesh fluid simulator (FLIP) and demonstrated its performance on 4 benchmarks, with different cup shapes and viscosity coefficients.
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