The free configuration space of a Kirchhoff elastic rod is path-connected

Andy Borum, Timothy Bretl

Research output: Contribution to journalConference articlepeer-review

Abstract

In this paper, we show that the free configuration space of a Kirchhoff elastic rod is path-connected. By free configuration space, we mean the set of all equilibrium configurations of the rod that are stable (i.e. locally minimize elastic potential energy) and do not experience self-intersections. We also provide semi-analytical expressions for paths in the free configuration space that connect any two stable equilibrium configurations that do not contain self-intersections. These results are applied to the problem of manipulation planning for deformable objects.

Original languageEnglish (US)
Article number7139604
Pages (from-to)2958-2964
Number of pages7
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

ASJC Scopus subject areas

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

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