Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations

Authors:
Timothy Bretl;Zoe Mccarthy
Affiliations:
Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, USA;Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, USA
Venue:
International Journal of Robotics Research
Year:
2014

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Abstract

Consider a thin, flexible wire of fixed length that is held at each end by a robotic gripper. Any curve traced by this wire when in static equilibrium is a local solution to a geometric optimal control problem, with boundary conditions that vary with the position and orientation of each gripper. We prove that the set of all local solutions to this problem over all possible boundary conditions is a smooth manifold of finite dimension that can be parameterized by a single chart. We show that this chart makes it easy to implement a sampling-based algorithm for quasi-static manipulation planning. We characterize the performance of such an algorithm with experiments in simulation.