Robotic Manipulation Planning for Shaping Deformable Linear Objects WithEnvironmental Contacts

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.

[1]  Hirofumi Nakagaki,et al.  Study of deformation and insertion tasks of a flexible wire , 1997, Proceedings of International Conference on Robotics and Automation.

[2]  Lydia E. Kavraki,et al.  Planning Paths for Elastic Objects under Manipulation Constraints , 2001, Int. J. Robotics Res..

[3]  Joseph K. Kearney,et al.  A Case Study of Flexible Object Manipulation , 1991, Int. J. Robotics Res..

[4]  Kazuaki Iwata,et al.  Modeling of linear objects considering bend, twist, and extensional deformations , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[5]  Joel W. Burdick,et al.  Mobility of Bodies in Contact{ii: How Forces Are Generated by Curvature Eeects? , 1994 .

[6]  Krishnendu Gongopadhyay,et al.  Knot Theory and Its Applications , 2016 .

[7]  S. Chiaverini,et al.  Achieving user-defined accuracy with damped least-squares inverse kinematics , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[8]  E. Burdet,et al.  Knot-tying with Visual and Force Feedback for VR Laparoscopic Training , 2005, 2005 IEEE Engineering in Medicine and Biology 27th Annual Conference.

[9]  Torsten Kröger,et al.  Opening the door to new sensor-based robot applications—The Reflexxes Motion Libraries , 2011, 2011 IEEE International Conference on Robotics and Automation.

[10]  Olivier Roussel,et al.  Deformable Linear Object manipulation planning with contacts , 2014, IROS 2014.

[11]  D. Henrich,et al.  Manipulating deformable linear objects - contact states and point contacts , 1999, Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470).

[12]  Eiichi Yoshida,et al.  Simulation-based optimal motion planning for deformable object , 2015, 2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO).

[13]  André Crosnier,et al.  Dual-arm robotic manipulation of flexible cables , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[14]  Yun-Hui Liu,et al.  Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours , 2018, IEEE Transactions on Robotics.

[15]  Keng Peng Tee,et al.  Towards Emergence of Tool Use in Robots: Automatic Tool Recognition and Use Without Prior Tool Learning , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

[16]  Dominik Henrich,et al.  Manipulating deformable linear objects: characteristic features for vision-based detection of contact state transitions , 2003, Proceedings of the IEEE International Symposium onAssembly and Task Planning, 2003..

[17]  Hidefumi Wakamatsu,et al.  Static Modeling of Linear Object Deformation Based on Differential Geometry , 2004, Int. J. Robotics Res..

[18]  Timothy Bretl,et al.  The free configuration space of a Kirchhoff elastic rod is path-connected , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[19]  Lydia E. Kavraki,et al.  Path planning for deformable linear objects , 2006, IEEE Transactions on Robotics.

[20]  Hidefumi Wakamatsu,et al.  Knotting/Unknotting Manipulation of Deformable Linear Objects , 2006, Int. J. Robotics Res..

[21]  Peter I. Corke,et al.  Towards vision-based manipulation of plastic materials , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[22]  Jihong Zhu,et al.  A collaborative robot for the factory of the future: BAZAR , 2019, The International Journal of Advanced Manufacturing Technology.

[23]  Pieter Abbeel,et al.  Cloth grasp point detection based on multiple-view geometric cues with application to robotic towel folding , 2010, 2010 IEEE International Conference on Robotics and Automation.

[24]  Francisco José Madrid-Cuevas,et al.  Generation of fiducial marker dictionaries using Mixed Integer Linear Programming , 2016, Pattern Recognit..

[25]  Timothy Bretl,et al.  Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations , 2014, Int. J. Robotics Res..