Dual Arm Steering of Deformable Linear Objects in 2-D and 3-D Environments Using Euler's Elastica Solutions

This paper describes a method for steering deformable linear objects using two robot hands in environments populated by sparsely spaced obstacles. The approach involves manipulating an elastic inextensible rod by varying the gripping endpoint positions and tangents. Closed form solutions that describe the flexible linear object shape in planar environments, Euler's elastica, are described. The paper uses these solutions to formulate criteria for non self-intersection, stability and obstacle avoidance. These criteria are formulated as constraints in the flexible object six-dimensional configuration space that represents the robot gripping endpoint positions and tangents. In particular, this paper introduces a novel criterion that ensures the flexible object stability during steering. All safety criteria are integrated into a scheme for steering flexible linear objects in planar environments, which is lifted into a steering scheme in three-dimensional environments populated by sparsely spaced obstacles. Experiments with a dual-arm robot demonstrate the method.

Steering Flexible Linear Objects in Planar Environments by Two Robot Hands Using Euler's Elastica Solutions

The manipulation of flexible objects such as cables, wires and fresh food items by robot hands forms a special challenge in robot grasp mechanics. This paper considers the steering of flexible linear objects in planar environments by two robot hands. The flexible linear object, modeled as an elastic non-stretchable rod, is manipulated by varying the gripping endpoint positions while keeping equal endpoint tangents. The flexible linear object shape has a closed form solution in terms of the grasp endpoint positions and tangents, called Euler's elastica. This paper obtains the elastica solutions under the optimal control framework, then uses the elastica solutions to obtain closed-form criteria for non self-intersection, stability and obstacle avoidance of the flexible linear object. The new tools are incorporated into a planning scheme for steering flexible linear objects in planar environments populated by sparsely spaced obstacles. The scheme is fully implemented and demonstrated with detailed examples.