Manipulation Planning for Wiring Connector-Attached Cables Considering Linear Object's Deformability

In this paper, we propose a method of manipulation planning for cable wiring. The method enables to take into account the deformation of cables while connector incorporation process. Using a physical simulation that predicts the shape of a cable based on the pose of both ends of the cable, we generate a connector moving path that avoids intereference between the cable and surrounding structures. We conducted experiments under several different environments and several different lengths of cables, and confirmed that actual cable manipulation can stably be achieved by using the proposed method.