{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/87998"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/87998","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Experiments in quasi-static manipulation of an elastic rod","abstract":"The purpose of this dissertation is to experimentally validate a new approach to robotic manipulation of deformable objects. As a case study, it will focus on the manipulation of objects that can be modeled as Kirchhoff elastic rods, for example a metal wire that is held at each end by robotic grippers. Any curve traced by this wire when in static equilibrium can be described as the solution to an optimal control problem with boundary conditions that vary with the position and orientation of each gripper. Recent work has shown that the set of all local solutions to this problem over all possible boundary conditions is a smooth manifold of finite dimension that can be parameterized by a single chart, the coordinates for which have a direct interpretation as forces and torques. These coordinates-in principle-allow the problem of manipulation planning to be formulated as finding a path of the wire through its set of equilibrium configurations, something that was previously thought impossible and that has significant advantages. However, this approach has never before been applied to hardware experiments. We begin by considering a metal wire that is confined to a planar workspace. We derive global coordinates for this wire and characterize the extent to which they accurately describe its shape during robotic manipulation. In particular, we show that differences between predicted and observed manipulation (which can be quite large) derive primarily from small errors in the position and orientation of each robotic gripper. We reduce these differences in two ways. First, we give an algorithm for manipulation planning that locally minimizes sensitivity to errors in gripper placement. Second, we give a feedback control policy (based on force sensor data as well as on position and orientation estimates) that locally minimizes the sum-squared error between planned and observed paths in our global coordinate chart for the wire. We conclude by showing-again, with hardware experiments-that these results extend directly to enable robotic manipulation of a metal wire in a three-dimensional workspace.","abstract_html":"The purpose of this dissertation is to experimentally validate a new approach to robotic manipulation of deformable objects. As a case study, it will focus on the manipulation of objects that can be modeled as Kirchhoff elastic rods, for example a metal wire that is held at each end by robotic grippers. Any curve traced by this wire when in static equilibrium can be described as the solution to an optimal control problem with boundary conditions that vary with the position and orientation of each gripper. Recent work has shown that the set of all local solutions to this problem over all possible boundary conditions is a smooth manifold of finite dimension that can be parameterized by a single chart, the coordinates for which have a direct interpretation as forces and torques. These coordinates-in principle-allow the problem of manipulation planning to be formulated as finding a path of the wire through its set of equilibrium configurations, something that was previously thought impossible and that has significant advantages. However, this approach has never before been applied to hardware experiments. We begin by considering a metal wire that is confined to a planar workspace. We derive global coordinates for this wire and characterize the extent to which they accurately describe its shape during robotic manipulation. In particular, we show that differences between predicted and observed manipulation (which can be quite large) derive primarily from small errors in the position and orientation of each robotic gripper. We reduce these differences in two ways. First, we give an algorithm for manipulation planning that locally minimizes sensitivity to errors in gripper placement. Second, we give a feedback control policy (based on force sensor data as well as on position and orientation estimates) that locally minimizes the sum-squared error between planned and observed paths in our global coordinate chart for the wire. We conclude by showing-again, with hardware experiments-that these results extend directly to enable robotic manipulation of a metal wire in a three-dimensional workspace.","abstract_has_math":false,"creators":["Matthews, Dennis"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Bretl, Timothy W.","Alleyne, Andrew G.","Hutchinson, Seth A.","Schutt-Aine, Jose E."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-29T20:38:04Z","date_published":"2015-09-29T20:38:04Z","updated_at":"2026-07-22T22:26:31Z","subjects":["robotics","elastic rod manipulation","motion planning","cost function"],"languages":["en"],"rights":["Copyright 2015 Dennis Matthews"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/87998","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Bretl, Timothy W.","Alleyne, Andrew G.","Hutchinson, Seth A.","Schutt-Aine, Jose E."]},{"key":"dc:creator","label":"Author","values":["Matthews, Dennis"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-29T20:38:04Z","2015-08","2015-07-09","2015-8"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["robotics","elastic rod manipulation","motion planning","cost function"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2015 Dennis Matthews"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/87998"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The purpose of this dissertation is to experimentally validate a new approach to robotic manipulation of deformable objects. As a case study, it will focus on the manipulation of objects that can be modeled as Kirchhoff elastic rods, for example a metal wire that is held at each end by robotic grippers. Any curve traced by this wire when in static equilibrium can be described as the solution to an optimal control problem with boundary conditions that vary with the position and orientation of each gripper. Recent work has shown that the set of all local solutions to this problem over all possible boundary conditions is a smooth manifold of finite dimension that can be parameterized by a single chart, the coordinates for which have a direct interpretation as forces and torques. These coordinates-in principle-allow the problem of manipulation planning to be formulated as finding a path of the wire through its set of equilibrium configurations, something that was previously thought impossible and that has significant advantages. However, this approach has never before been applied to hardware experiments. We begin by considering a metal wire that is confined to a planar workspace. We derive global coordinates for this wire and characterize the extent to which they accurately describe its shape during robotic manipulation. In particular, we show that differences between predicted and observed manipulation (which can be quite large) derive primarily from small errors in the position and orientation of each robotic gripper. We reduce these differences in two ways. First, we give an algorithm for manipulation planning that locally minimizes sensitivity to errors in gripper placement. Second, we give a feedback control policy (based on force sensor data as well as on position and orientation estimates) that locally minimizes the sum-squared error between planned and observed paths in our global coordinate chart for the wire. We conclude by showing-again, with hardware experiments-that these results extend directly to enable robotic manipulation of a metal wire in a three-dimensional workspace.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms","The student, Dennis Matthews, accepted the attached license on 2015-07-06 at 20:25.","The student, Dennis Matthews, submitted this Dissertation for approval on 2015-07-06 at 20:31.","This Dissertation was approved for publication on 2015-07-09 at 10:20.","DSpace SAF Submission Ingestion Package generated from Vireo submission #8345 on 2015-09-29 at 13:21:57","Made available in DSpace on 2015-09-29T20:38:04Z (GMT). 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As a case study, it will focus on the manipulation of objects that can be modeled as Kirchhoff elastic rods, for example a metal wire that is held at each end by robotic grippers. Any curve traced by this wire when in static equilibrium can be described as the solution to an optimal control problem with boundary conditions that vary with the position and orientation of each gripper. Recent work has shown that the set of all local solutions to this problem over all possible boundary conditions is a smooth manifold of finite dimension that can be parameterized by a single chart, the coordinates for which have a direct interpretation as forces and torques. These coordinates-in principle-allow the problem of manipulation planning to be formulated as finding a path of the wire through its set of equilibrium configurations, something that was previously thought impossible and that has significant advantages. However, this approach has never before been applied to hardware experiments. We begin by considering a metal wire that is confined to a planar workspace. We derive global coordinates for this wire and characterize the extent to which they accurately describe its shape during robotic manipulation. In particular, we show that differences between predicted and observed manipulation (which can be quite large) derive primarily from small errors in the position and orientation of each robotic gripper. We reduce these differences in two ways. First, we give an algorithm for manipulation planning that locally minimizes sensitivity to errors in gripper placement. Second, we give a feedback control policy (based on force sensor data as well as on position and orientation estimates) that locally minimizes the sum-squared error between planned and observed paths in our global coordinate chart for the wire. We conclude by showing-again, with hardware experiments-that these results extend directly to enable robotic manipulation of a metal wire in a three-dimensional workspace.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms","The student, Dennis Matthews, accepted the attached license on 2015-07-06 at 20:25.","The student, Dennis Matthews, submitted this Dissertation for approval on 2015-07-06 at 20:31.","This Dissertation was approved for publication on 2015-07-09 at 10:20.","DSpace SAF Submission Ingestion Package generated from Vireo submission #8345 on 2015-09-29 at 13:21:57","Made available in DSpace on 2015-09-29T20:38:04Z (GMT). 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