Abstract
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 letter, 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.
Original language | English |
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Article number | 8851170 |
Pages (from-to) | 16-23 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 5 |
Issue number | 1 |
Early online date | 27 Sept 2019 |
DOIs | |
Publication status | Published - Jan 2020 |
Bibliographical note
Funding Information:Manuscript received June 7, 2019; accepted September 12, 2019. Date of publication September 27, 2019; date of current version November 13, 2019. This letter was recommended for publication by Associate Editor N. Huang and Editor J. Li upon evaluation of the reviewers’ comments. This work was supported by the European Union Horizon 2020 research and innovation program as part of the project VERSATILE under Grant agreement 731330. (Corresponding author: Jihong Zhu.) The authors are with the Laboratory for Computer Science, Microelectronics and Robotics LIRMM, Université de Montpellier CNRS, 34090 Mont-pellier, France (e-mail: [email protected]; [email protected]; [email protected]; [email protected]; [email protected]; [email protected]).
Publisher Copyright:
© 2016 IEEE.
Keywords
- Contact Modeling
- Dexterous Manipulation
- Manipulation Planning