TY - GEN
T1 - Quasi-static manipulation of a planar elastic rod using multiple robotic grippers
AU - Mukadam, Mustafa
AU - Borum, Andy
AU - Bretl, Timothy
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84911462392&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2014.6942540
DO - 10.1109/IROS.2014.6942540
M3 - Conference contribution
AN - SCOPUS:84911462392
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 55
EP - 60
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -