DocumentCode
716531
Title
The free configuration space of a Kirchhoff elastic rod is path-connected
Author
Borum, Andy ; Bretl, Timothy
Author_Institution
Dept. of Aerosp. Eng., Univ. of Illinois at Urbana-Champaign, Champaign, IL, USA
fYear
2015
fDate
26-30 May 2015
Firstpage
2958
Lastpage
2964
Abstract
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. We also provide semi-analytical expressions for paths in the free configuration space that connect any two stable equilibrium configurations that do not contain self-intersections. These results are applied to the problem of manipulation planning for deformable objects.
Keywords
grippers; path planning; deformable objects; equilibrium configurations; free configuration space; manipulation planning problem; path-connected Kirchhoff elastic rod; robotic gripper; semianalytical expressions; Differential equations; Grippers; Joining processes; Optimal control; Planning; Robots; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location
Seattle, WA
Type
conf
DOI
10.1109/ICRA.2015.7139604
Filename
7139604
Link To Document