Dual-arm robotic manipulation of flexible cables

Jihong Zhu; Benjamin Navarro; Philippe Fraisse; André Crosnier; Andrea Cherubini

IROS 2018poster161 citations

Dual-arm robotic manipulation of flexible cables

Jihong Zhu, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini

Abstract

Deforming a cable to a desired (reachable) shape is a trivial task for a human to do without even knowing the internal dynamics of the cable. This paper proposes a framework for cable shapes manipulation with multiple robot manipulators. The shape is parameterized by a Fourier series. A local deformation model of the cable is estimated on-line with the shape parameters. Using the deformation model, a velocity control law is applied on the robot to deform the cable into the desired shape. Experiments on a dual-arm manipulator are conducted to validate the framework.

BibTeX

@inproceedings{iros2018_dualarmroboticma,
  title = {Dual-arm robotic manipulation of flexible cables},
  author = {Jihong Zhu and Benjamin Navarro and Philippe Fraisse and André Crosnier and Andrea Cherubini},
  booktitle = {IROS 2018},
  year = {2018}
}