用双臂机器人操控柔性细长物体，实现2D与3D环境下的安全路径规划。
Dual Arm Steering of Deformable Linear Objects in 2-D and 3-D Environments Using Euler's Elastica Solutions
- 基于欧拉弹性解，通过调节抓取点位置和切线控制物体形状。
- 提出稳定性、不自交和避障约束，确保操作安全可靠。
- 适用于双臂机器人操控柔性绳索或管道，实验验证有效。
本文提出一种在稀疏障碍物环境中，使用双机械臂操控可变形线性物体的方法。通过改变抓取端点的位置和切线方向，控制不可伸长弹性杆的形变。研究中给出了二维环境下描述柔性物体形状的闭式解——欧拉弹性解，并据此建立非自交、稳定性和避障准则。这些准则被整合到一个六维配置空间中，用于表示机器人抓取点的位置与切线状态。本文还提出一种新的稳定性判据，确保操纵过程中的动态稳定。所有安全约束被集成至二维环境的操控方案，并拓展至三维空间中的稀疏障碍物场景。实验使用双臂机器人验证了该方法的有效性。
原文摘要 · Abstract (English)
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.
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