@inproceedings{e762741b7b3a48259e29938ab2c4b1e5,

title = "Equilibrium configurations of a kirchhoff elastic rod under quasi-static manipulation",

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.",

author = "Timothy Bretl and Zoe McCarthy",

year = "2013",

month = jan,

day = "1",

doi = "10.1007/978-3-642-36279-8_5",

language = "English (US)",

isbn = "9783642362781",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer-Verlag Berlin Heidelberg",

pages = "71--87",

editor = "Emilio Frazzoli and Nicholas Roy and Tomas Lozano-Perez and Daniela Rus",

booktitle = "Springer Tracts in Advanced Robotics",

note = "10th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2012 ; Conference date: 13-06-2012 Through 15-06-2012",

}