Motion planning for robotic manipulation of deformable linear objects

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 2478-2484

  Saha, Mitul ^a   Isto, Pekka ^b  

^a STANFORD UNIVERSITY   (United States)

^b UNIVERSITY OF VAASA   (Finland)

Author keywords

Deformable objects; Knot tying; Manipulation planning; Probabilistic roadmaps

Indexed keywords

COMPUTER SIMULATION; LINEAR SYSTEMS; MOTION PLANNING; PROBABILITY; ROBOTIC ARMS; TOPOLOGY;

DEFORMABLE LINEAR OBJECTS (DLOS); PROBABILISTIC ROADMAP; ROBOTIC MANIPULATION;

REDUNDANT MANIPULATORS;

EID: 33747596054     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642074     Document Type: Conference Paper

References (23)

1. C. C. Adams, The Knot Book, W.H. Freeman and Company, New York, NY, 1994.
2. J. Brown, J.C. Latombe, and K. Montgomery, "Real-time knot tying simulation", The Visual Computer J., 20(2-3): 165-179, 2004.
3. H. Choset, et al., Principles of Robot Motion, MIT Press, Cambridge, MA, 2005.
4. N. Gagvani and D. Silver, "Parametric controlled volume thinning", Graphics Models and Image Proc., 61(3):149-164, May 1999.
5. A. Dhanik, "Development of a palpable virtual nylon thread and handling of bifurcations", Masters Thesis, NUS, Singapore, 2005.
6. D. Hsu, R. Kindel, J.C. Latombe, and S. Rock, "Randomized kinodynamic motion planning with moving obstacles", J. Rob. Research, 21(3):233-255, 2002.
7. A. M. Ladd, and L. E. Kavraki, "Using motion planning for knot untangling", J. Rob. Research, 23(7-8):797-808, 2004.
8. F. Lamiraux and L. E. Kavraki, "Planning paths for elastic objects under manipulation constraints", J. Rob. Research, 20(3): 188-208, 2001.
9. S. M. LaValle and J. J. Kuffner, "Randomized kinodynamic planning", J. Rob. Research, 20(5):378-400, 2001.
10. Y. Koga and J. C. Latombe, "On multi-arm manipulation planning", Proc. IEEE Int. Conf. Rob. and Aut., CA, 1994.
11. T. M., T. Fukuda, and F. Arai, "Flexible rope manipulation by dual manipulator system using vision sensor", Proc. IEEE Int. Conf. Adv. Intel. Mech., Italy, 2001.
12. T. Morita, J. Takamatsu, K. Ogawara, H. Kimura, and K. Ikeuchi, "Knot planning from observation", Proc. IEEE Int. Conf. Rob. and Aut., Taiwan, 2003.
13. D. K. Pai, "Strands: interactive simulation of thin solids using cosserat models", Proc. Eurographics, Saarbruken, Germany, 2002.
14. J. Phillips, A. Ladd, L. E. Kavraki, "Simulated knot tying", Proc. IEEE Int. Conf. Rob. and Aut., DC, 2002.
15. A. Remde, D. Henrich, and H. Worn, "Pick-up deformable linear objects with industrial robots", Proc. Int. Symp. on Robotics, Japan, 1999.
16. P. Rogen and H. Bohr, "A new family of global protein shape descriptors", Mathematical Biosciences, 182(2):167-181, April 2003.
17. G. Sanchez and J. C. Latombe, "A single-query bi-directional probabilistic roadmap planner with lazy collision checking",. Proc. Int. Symp. on Rob. Res., Australia, 2001.
18. T. W. Schmidt and D. Henrich, "Manipulating deformable linear objects: robot motions in single and multiple contact points", Proc. Int. Symp. on Assembly and Task Planning, Japan, 2001.
19. T. Simeon, J. P. Laumond, J. Cortes, and A. Sahbani, "Manipulation planning with probabilistic roadmaps", J. Rob. Research, 23(7-8):729-746, 2004.
20. H. Wakamatsu and S. Hirai, "Static modeling of linear object deformable based on differential geometry", J. Rob. Research, 23(3):293-311, 2004.
21. H. Wakamatsu, A. Tsumaya, Eiji Arai and Shinichi Hirai, "Planning of one-handed knotting/raveling manipulation of linear objects", Proc. IEEE Int. Conf. Rob. and Aut., LA, 2004.
22. G. Wilfong, "Motion planning in the presence of movable obstacles", Proc. ACM Sym. on Computational Geometry, IL, 1988.
23. F. Wang, E. Burdet, V Ronald, and H. Bleuler, "Knot-tying with visual and force feedback for VR laparoscopic training", Proc. 27th EMBS Annual Int. Conf., China, 2005.