Publication
Action selection for robotic manipulation of deformable objects
Conference Article
Conference
Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics (FSCYR:ECR)
Edition
2008
Pages
1-6
Doc link
http://www.esf.org/conferences/08231
File
Abstract
This paper deals with the manipulation of planar deformable objects for typical service robot applications. Specifically, we present a system that straightens pieces of cloth from any arbitrary initial wrinkle condition using a robotic manipulator. The cloth is modeled with a Finite Element Method, and its state is estimated with a physical-based implicit integration scheme that computes particle velocities as a function of internal and external forces acting on the object. The state of the object is tracked with a stochastic observer, in which measurements come from a stereo vision system. Manipulation actions are chosen maximizing an a-optimal information measure. To our knowledge, this is the first time that a stochastic state estimator has been derived for an implicit integration model of a deformable planar object, bridging the gap between computer simulation and vision-based tracking of the state of deformable planar objects for manipulation.
Categories
computer vision, robots.
Scientific reference
S. Cuén Rochín, J. Andrade-Cetto and C. Torras. Action selection for robotic manipulation of deformable objects, 2008 Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics, 2008, Kanagawa, Japó, pp. 1-6, ESF-JSPS.
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