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We present an optimization-based motion planning algorithm to compute asmooth, collision-free trajectory for a manipulator used to transfer a liquidfrom a source to a target container. We take into account fluid dynamicsconstraints as part of trajectory computation. In order to avoid the highcomplexity of exact fluid simulation, we introduce a simplified dynamics modelbased on physically inspired approximations and system identification. Ouroptimization approach can incorporate various other constraints such ascollision avoidance with the obstacles, kinematic and dynamics constraints ofthe manipulator, and fluid dynamics characteristics. We demonstrate theperformance of our planner on different benchmarks corresponding to variousobstacles and container shapes. Furthermore, we also evaluate its accuracy byvalidating the motion plan using an accurate but computationally costlyNavier-Stokes fluid simulation.

Motion Planning for Fluid Manipulation using Simplified Dynamics