Motion planning for robotic manipulation of deformable linear objects

Abstract

A new motion planner is described to manipulate deformable linear objects (DLOs) and tie knots (both self-knots and knots around static objects) using two cooperating robotic arms. This planner blends new ideas with pre-existing concepts and techniques from knot theory, motion planning, and computational modeling. Unlike in traditional motion planning, the planner's goal is a topological state of the DLO rather than some exact geometry. Using an input physical model of the DLO, it searches for a maniplation path by constructing a topologically-biased probabilistic roadmap in the configuration space of the DLO. Static needles are inserted to ensure the integrity of loops of the DLO during manipulation and to make plans robust to imperfections in the physical model. The planner was tested both in simulation and on a dual-PUMA-560 hardware platform to achieve various knots, like bowline, neck-tie, bow (shoe-lace), and stun-sail. © 2008 Springer-Verlag Berlin Heidelberg.