Equilibrium configurations of a kirchhoff elastic rod under quasi-static manipulation

Timothy Bretl, Zoe McCarthy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Consider a thin, flexible wire of fixed length that is held at each end by a robotic gripper. The curve traced by this wire can be described as a local solution to a geometric optimal control problem, with boundary conditions that vary with the position and orientation of each gripper. The set of all local solutions to this problem is the configuration space of the wire under quasi-static manipulation. We will show that this configuration space is a smooth manifold of finite dimension that can be parameterized by a single chart. Working in this chart—rather than in the space of boundary conditions—makes the problem of manipulation planning very easy to solve. Examples in simulation illustrate our approach.

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
EditorsEmilio Frazzoli, Nicholas Roy, Tomas Lozano-Perez, Daniela Rus
PublisherSpringer-Verlag Berlin Heidelberg
Pages71-87
Number of pages17
ISBN (Print)9783642362781
DOIs
StatePublished - Jan 1 2013
Event10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012 - Cambridge, United States
Duration: Jun 13 2012Jun 15 2012

Publication series

NameSpringer Tracts in Advanced Robotics
Volume86
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012
CountryUnited States
CityCambridge
Period6/13/126/15/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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