Rabenstein G, Völz A, Graichen K (2025)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2025
Event location: Portsmouth
Humans complete contact tasks with a cable by
actively seeking contact with the obstacle. Inspired by this
behavior, the manipulation planning approach in this paper
solves a contact shaping task with cylindrical obstacles. This
task is solved by sequentially regrasping and moving the
cable at two grasp points. Hereby, a cable segment between
two points is first moved to a suitable preposition and then
wrapped around the obstacle. For the cable prepositioning,
elastic rods are used to model a cable segments between two
points. By describing a cable equilibrium configuration by a
six-dimensional vector, this model is used in random sampling
based path planning. After prepositioning, the cable is wrapped
around the obstacle by establishing and using a contact point on
the obstacle surface. The proposed method is finally evaluated
in the SOFA simulator.
APA:
Rabenstein, G., Völz, A., & Graichen, K. (2025). Cable Manipulation for Contact Shaping Tasks using Elastic Rods. In Proceedings of the IEEE International Conference on Advanced Robotics and Mechatronics (ICARM). Portsmouth.
MLA:
Rabenstein, Georg, Andreas Völz, and Knut Graichen. "Cable Manipulation for Contact Shaping Tasks using Elastic Rods." Proceedings of the IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), Portsmouth 2025.
BibTeX: Download