Motion planning for robotic manipulation of deformable linear objects
Motion planning for robotic manipulation of deformable linear objects
复制标题
可变形线性物体的机器人操纵的运动规划
DOI：
10.1109/robot.2006.1642074
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
J. Latombe
中科院分区：
文献类型：
--
作者：
Mitul Saha;Pekka Isto;J. Latombe
迄今为止，机器人操作的研究主要集中在对刚性物体的操作上。然而，许多重要的应用领域需要操纵可变形对象，特别是可变形线性对象（DLO），例如绳索、电缆和缝合线。这样的对象处理起来更具挑战性，因为它们可以表现出更大的行为多样性。本文介绍了一种新的运动规划器操作DLO和打结（自我结和简单的静态对象周围的结）使用合作的机器人手臂。规划器在DLO的配置空间中构造拓扑偏置概率路线图。与传统的运动规划问题不同，目标是世界的拓扑状态，而不是几何状态。实现的规划器在模拟中进行了测试，以实现各种结，如bowline，领带，蝴蝶结（鞋带）和stun-sail
Research on robotic manipulation has mainly focused on manipulating rigid objects so far. However, many important application domains require manipulating deformable objects, especially deformable linear objects (DLOs), such as ropes, cables, and sutures. Such objects are far more challenging to handle, as they can exhibit a much greater diversity of behaviors. This paper describes a new motion planner for manipulating DLOs and tying knots (self-knots and knots around simple static objects) using cooperating robot arms. The planner constructs a topologically-biased probabilistic roadmap in the DLO's configuration space. Unlike in traditional motion planning problems, the goal is a topological state of the world, rather than a geometric one. The implemented planner was tested in simulation to achieve various knots like bowline, neck-tie, bow (shoe-lace), and stun-sail