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: Chapter in Book/Report/Conference proceedingConference contribution

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)
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3116-3121
Number of pages6
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - Jun 29 2015
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period5/26/155/30/15

ASJC Scopus subject areas

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

Fingerprint

Dive into the research topics of 'Manipulation planning with contacts for an extensible elastic rod by sampling on the submanifold of static equilibrium configurations'. Together they form a unique fingerprint.

Cite this