Dual-arm robotic manipulation of flexible cables

Zhu, Jihong; Navarro, Benjamin; Fraisse, Philippe; Crosnier, André; Cherubini, Andrea

doi:10.1109/iros.2018.8593780

Cited by 110 publications

(89 citation statements)

References 15 publications

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“…Several work centered around manipulation planning have tackled different problems associated with deformable objects like cables, chains and hoses [8,5,13,1,14]. In particular, deformable object manipulation has been explored in different work: In [22] a framework for cable shapes manipulation using a deformation model was shown. A motion planner for manipulating deformable linear objects and tying knots is described in [15] and [9] shows a review on dexterous robotic manipulation of deformable objects by using sensor feedback.…”

Section: Related Workmentioning

confidence: 99%

Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Sánchez

Wan

Harada

2019

Advances in Mechanism and Machine Science

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Robotic manipulation of tethered tools is widely seen in robotic work cells. They may cause excess strain on the tool's cable or undesired entanglements with the robot's arms. This paper presents a manipulation planner with cable orientation constraints for tethered tools suspended by tool balancers. The planner uses orientation constraints to limit the bending of the balancer's cable while the robot manipulates a tool and places it in a desired pose. The constraints reduce entanglements and decrease the torque induced by the cable on the robot joints. Simulation and real-world experiments show that the constrained planner can successfully plan robot motions for the manipulation of suspended tethered tools preventing the robot from damaging the cable or getting its arms entangled, potentially avoiding accidents. The planner is expected to play promising roles in manufacturing cells.

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Section: Related Workmentioning

confidence: 99%

Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Sánchez

Wan

Harada

2019

Advances in Mechanism and Machine Science

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“…Navarro-Alarcon et al developed a modelfree Fourier-based shape servoing strategy [13]. We extended that work to the shape servoing of cables in [14].…”

Section: A Related Workmentioning

confidence: 98%

“…Both the depth Z and T C R can be obtained via ArUco. Given image coordinates u and v, the projection equation (14) consists of two functions with two unknowns. Thus, we solve the robot frame coordinate X and Y from u and v. The contacts are conventionally ordered with increasing X axis coordinate.…”

Section: B Contact Localizationmentioning

confidence: 99%

Robotic Manipulation Planning for Shaping Deformable Linear Objects WithEnvironmental Contacts

Zhu

Navarro

Passama

et al. 2020

IEEE Robot. Autom. Lett.

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Humans use contacts in the environment to modify the shape of deformable objects. Yet, few papers have studied the use of contacts in robotic manipulation. In this paper, we investigate the problem of robotic manipulation of cables with environmental contacts. Instead of avoiding contacts, we propose a framework that allows the robot to use them for shaping the cable. We introduce an index to quantify the contact mobility of a cable with a circular contact. Based on this index, we present a planner to plan robot motions. The planner is aided by a visionbased contact detector. The framework is validated with robot experiments on different desired cable configurations.

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“…Ramirez et al [25] developed a finite element model for a fire hose and used it to generate the pulling motion of a humanoid robot. In [26], a framework for cable shapes manipulation using a deformation model is shown. A motion planner for manipulating deformable linear objects and tying knots was described by Saha and Isto [27], while Khalil and Payeur [28] reviewed the works on dexterous robotic manipulation of deformable objects by using sensor feedback.…”

Section: Manipulation Planningmentioning

confidence: 99%

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

2020

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Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning. In the case of wired or tethered tools, their maneuvering becomes considerably harder by the tool cable. If the cable presence is not considered, the robot motions may make the cable become entangled with the robot arms or elements of its workspace, causing accidents or unnecessary strain on the robot and the tool. Furthermore, the behavior of the tool cable during manipulation and its degree of entanglement around the robot are difficult to predict. The present paper introduces a constrained manipulation planner for dual-armed tethered tool manipulation involving tool re-grasping. Our solution employs a tool balancer to straighten the tool cable and facilitate the cable deformation problem. The planner predicts the cable states during manipulation and restricts the robot motions in order to avoid cable entanglements and collisions while performing tool re-posing tasks. Furthermore, the planner also applies orientational constraints to limit the cable bending, reducing the torque and stress suffered by the robot due to the cable tension. Simulations and real-world experiments validated the presented method.

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Dual-arm robotic manipulation of flexible cables

Cited by 110 publications

References 15 publications

Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Robotic Manipulation Planning for Shaping Deformable Linear Objects WithEnvironmental Contacts

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

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