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Communication Dans Un Congrès Année : 2014

Deformable Linear Object manipulation planning with contacts

Olivier Roussel

Résumé

We consider the manipulation planning problem of a Deformable Linear Object (DLO) in free or contact space. We assume the DLO is handled by a gripper at one of its extremities and during the manipulating phase, the grasped end may change. The problem is solved by coupling dynamic simulation for the DLO and kinodynamic motion planning with contacts. We show the necessity of considering contacts for this type of problem with several simulation experiments by comparing with classical collision-free approaches.
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Dates et versions

hal-01159546 , version 1 (03-06-2015)

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Paternité - Partage selon les Conditions Initiales

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  • HAL Id : hal-01159546 , version 1

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Olivier Roussel, Michel Taïx. Deformable Linear Object manipulation planning with contacts. Robot Manipulation: What has been achieved and what remains to be done? Full day workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2014, Chicago, United States. ⟨hal-01159546⟩
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