Dual-arm robotic manipulation of flexible cables

Jihong Zhu 1 Benjamin Navarro 1 Philippe Fraisse 1 André Crosnier 1 Andrea Cherubini 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Deforming a cable to a desired (reachable) shape is a trivial task for a human to do without even knowing the internal dynamics of the cable. This paper proposes a framework for cable shapes manipulation with multiple robot manipulators. The shape is parameterized by a Fourier series. A local deformation model of the cable is estimated on-line with the shape parameters. Using the deformation model, a velocity control law is applied on the robot to deform the cable into the desired shape. Experiments on a dual-arm manipulator are conducted to validate the framework.
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Jihong Zhu, Benjamin Navarro, Philippe Fraisse, André Crosnier, Andrea Cherubini. Dual-arm robotic manipulation of flexible cables. IROS: Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.479-484, ⟨10.1109/IROS.2018.8593780⟩. ⟨hal-01734740⟩

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