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 language | English (US) |
|---|---|
| Article number | 7139604 |
| Pages (from-to) | 2958-2964 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2015-June |
| Issue number | June |
| DOIs | |
| State | Published - Jun 29 2015 |
| Event | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: May 26 2015 → May 30 2015 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
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Cite this
Borum, A., & Bretl, T. (2015). The free configuration space of a Kirchhoff elastic rod is path-connected. Proceedings - IEEE International Conference on Robotics and Automation, 2015-June(June), 2958-2964. [7139604]. https://doi.org/10.1109/ICRA.2015.7139604