  In this paper, we explore the task of robot sculpting. We propose a search
based planning algorithm to solve the problem of sculpting by material removal
with a multi-axis manipulator. We generate collision free trajectories for a
manipulator using best-first search in voxel space. We also show significant
speedup of our algorithm by using octrees to decompose the voxel space. We
demonstrate our algorithm on a multi-axis manipulator in simulation by
sculpting Michelangelo's Statue of David, evaluate certain metrics of our
algorithm and discuss future goals for the project.
