Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations

Olivier Roussel, Andy Borum, Michel Taix, Timothy Bretl

Research output: Contribution to journalConference article

Abstract

We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the manipulation, the grasped end may change. We show that the use of both quasi-static and dynamic models can be coupled efficiently with sampling-based methods. By sampling directly on the submanifold of static equilibrium and contact-free configurations, we can take advantage of the dynamic model to improve the exploration in the state space. We show the necessity of considering contacts for this type of problems with several simulation experiments on various scenarios.

Original languageEnglish (US)
Article number7139627
Pages (from-to)3116-3121
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Fingerprint

Dynamic models
Sampling
Planning
Grippers
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations. / Roussel, Olivier; Borum, Andy; Taix, Michel; Bretl, Timothy.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139627, 29.06.2015, p. 3116-3121.

Research output: Contribution to journalConference article

@article{d670ba071ff944c78b5386d4f4e9041e,
title = "Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations",
abstract = "We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the manipulation, the grasped end may change. We show that the use of both quasi-static and dynamic models can be coupled efficiently with sampling-based methods. By sampling directly on the submanifold of static equilibrium and contact-free configurations, we can take advantage of the dynamic model to improve the exploration in the state space. We show the necessity of considering contacts for this type of problems with several simulation experiments on various scenarios.",
author = "Olivier Roussel and Andy Borum and Michel Taix and Timothy Bretl",
year = "2015",
month = "6",
day = "29",
doi = "10.1109/ICRA.2015.7139627",
language = "English (US)",
volume = "2015-June",
pages = "3116--3121",
journal = "Proceedings - IEEE International Conference on Robotics and Automation",
issn = "1050-4729",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "June",

}

TY - JOUR

T1 - Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations

AU - Roussel, Olivier

AU - Borum, Andy

AU - Taix, Michel

AU - Bretl, Timothy

PY - 2015/6/29

Y1 - 2015/6/29

N2 - We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the manipulation, the grasped end may change. We show that the use of both quasi-static and dynamic models can be coupled efficiently with sampling-based methods. By sampling directly on the submanifold of static equilibrium and contact-free configurations, we can take advantage of the dynamic model to improve the exploration in the state space. We show the necessity of considering contacts for this type of problems with several simulation experiments on various scenarios.

AB - We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the manipulation, the grasped end may change. We show that the use of both quasi-static and dynamic models can be coupled efficiently with sampling-based methods. By sampling directly on the submanifold of static equilibrium and contact-free configurations, we can take advantage of the dynamic model to improve the exploration in the state space. We show the necessity of considering contacts for this type of problems with several simulation experiments on various scenarios.

UR - http://www.scopus.com/inward/record.url?scp=84938242453&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84938242453&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2015.7139627

DO - 10.1109/ICRA.2015.7139627

M3 - Conference article

AN - SCOPUS:84938242453

VL - 2015-June

SP - 3116

EP - 3121

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

IS - June

M1 - 7139627

ER -