Spatial image model for manipulation of shape variable objects and application to excavation

Proposes a spatial image model which expresses the physical characteristics of an object whose shape may vary. This model consists of a mass of particles to represent the shape of the object and a set of production rules to predict the change of the object's shape. Models to represent gas, liquid and soil are described. A three-dimensional model for sand is used to describe the planning method based on the model. Finally, this planning method is applied to an experimental excavation of sand using an industrial manipulator with a six-axis force/torque sensor. >