Visible to the public Experiments in Quasi-Static Manipulation of a Planar Elastic RodConflict Detection Enabled

TitleExperiments in Quasi-Static Manipulation of a Planar Elastic Rod
Publication TypeConference Paper
Year of Publication2012
AuthorsDennis Matthews, University of Illinois at Urbana-Champaign, Timothy Bretl, University of Illinois at Urbana-Champaign
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date Published10/2012
PublisherIEEE Computer Society
Conference LocationVilamoura, Portugal
KeywordsNSA SoS Lablets Materials, science of security, Theoretical Foundations of Threat Assessment by Inverse Optimal Control, UIUC

In this paper, we introduce and experimentally validate a sampling-based planning algorithm for quasi-static manipulation of a planar elastic rod. Our algorithm is an immediate consequence of deriving a global coordinate chart of finite dimension that suffices to describe all possible configurations of the rod that can be placed in static equilibrium by fixing the position and orientation of each end. Hardware experiments confirm this derivation in the case where the "rod" is a thin, flexible strip of metal that has a fixed base and that is held at the other end by an industrial robot. We show an example in which a path of the robot that was planned by our algorithm causes the metal strip to move between given start and goal configurations while remaining in quasi-static equilibrium.

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Experiments in Quasi-Static Manipulation of a Planar Elastic Rod