Quasi-static manipulation of a planar elastic rod using multiple robotic grippers

Mustafa Mukadam, Andy Borum, Timothy Bretl

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

Abstract

We consider the problem of manipulating a planar elastic rod using robotic grippers which grasp the rod at multiple points. Building upon previous work that considers a rod held only at its ends, we show that manipulating a rod held by n + 1 grippers is equivalent to planning a path on a smooth 3n-dimensional manifold. Using multiple grippers can be advantageous when manipulating around obstacles. We establish upper and lower bounds on the number of grippers needed for an equilibrium shape of the rod to pass between obstacles in a desired way. Finally, we consider manipulation planning when both ends of the rod are held fixed, and only the grippers located along the interior of the rod can move.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages55-60
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Mukadam, M., Borum, A., & Bretl, T. (2014). Quasi-static manipulation of a planar elastic rod using multiple robotic grippers. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 55-60). [6942540] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942540