Volume 33 Issue 1 - Publication Date: January 2014

Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations

Timothy Bret and Zoe McCarthy

The International Journal of Robotics Research 2013 33: 48–68

Downloadable Files

Five examples of quasi-static manipulation. This video shows five examples of quasistatic manipulation. The first three examples should clarify the difference between a “straight-line path” in the space of boundary conditions and in the global coordinate chart that we derive in the paper. The last two examples correspond to Figures 1 and 8 in the paper. (16.0 mb)

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