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Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2020

Robotic manipulation planning for shaping deformable linear objects with environmental contacts

Benjamin Navarro
Robin Passama
Philippe Fraisse
André Crosnier
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Andrea Cherubini

Résumé

Humans use contacts in the environment to modify the shape of deformable objects. Yet, few papers have studied the use of contacts in robotic manipulation. In this paper, we investigate the problem of robotic manipulation of cables with environmental contacts. Instead of avoiding contacts, we propose a framework that allows the robot to use them for shaping the cable. We introduce an index to quantify the contact mobility of a cable with a circular contact. Based on this index, we present a planner to plan robot motions. The planner is aided by a vision-based contact detector. The framework is validated with robot experiments on different desired cable configurations.
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Dates et versions

hal-02303257 , version 1 (02-10-2019)

Identifiants

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Jihong Zhu, Benjamin Navarro, Robin Passama, Philippe Fraisse, André Crosnier, et al.. Robotic manipulation planning for shaping deformable linear objects with environmental contacts. IEEE Robotics and Automation Letters, 2020, 5 (1), pp.16-23. ⟨10.1109/LRA.2019.2944304⟩. ⟨hal-02303257⟩
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