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

Research output: Contribution to journalConference article

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

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Potential energy
Planning

ASJC Scopus subject areas

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

Cite this

The free configuration space of a Kirchhoff elastic rod is path-connected. / Borum, Andy; Bretl, Timothy Wolfe.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139604, 29.06.2015, p. 2958-2964.

Research output: Contribution to journalConference article

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