5 accepted papers
Experimental analysis of the mechanics of a deformable object, and particularly its stability, requires repetitive testing and, depending on the complexity of the object’s shape, a testing setup that can manipulate many degrees of freedom at the object’s boundary. Motivated by recent advancements in
We present a novel motion planning strategy for the manipulation of elastic rods with two robotic arms. In previous work, it has been shown that the free configuration space of an elastic rod, i.e., the set of equilibrium shapes of the rod, is a smooth manifold of a finite dimension that can be para
This letter provides a comparative analysis of common strategies for sampling-based motion planning of fully actuated closed kinematic chains with revolute joints. Three strategies are reviewed: singularity sampling, swapping between the possible passive chains while using the active-passive chains
We consider the manipulation planning problem of an extensible elastic rod in collision-free or contact space. We assume the rod can be handled by grippers either at both or at only one of its extremities and during the manipulation, the grasped end may change. We show that the use of both quasi-sta…
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.…