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 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
Cite this
The free configuration space of a Kirchhoff elastic rod is path-connected. / Borum, Andy; Bretl, Timothy.
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 journal › Conference article
}
TY - JOUR
T1 - The free configuration space of a Kirchhoff elastic rod is path-connected
AU - Borum, Andy
AU - Bretl, Timothy
PY - 2015/6/29
Y1 - 2015/6/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84938223726&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84938223726&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139604
DO - 10.1109/ICRA.2015.7139604
M3 - Conference article
AN - SCOPUS:84938223726
VL - 2015-June
SP - 2958
EP - 2964
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
SN - 1050-4729
IS - June
M1 - 7139604
ER -