Planning and Control for Cable-routing with Dual-arm Robot
Gabriel Arslan Waltersson,Rita Laezza,Yiannis Karayiannidis,Gabriel Arslan Waltersson,Rita Laezza,Yiannis Karayiannidis
In this paper, we propose a new framework for solving cable-routing problems with a dual-arm robot, where the objective is to clip a Deformable Linear Object (DLO) into several arbitrarily placed fixtures. The core of the framework is a task-space planner, which builds a roadmap from predefined tasks and employs a replanning strategy based on a genetic algorithm, if problems occur. The manipulatio...
