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Blind Manipulation of Deformable Objects Based on Force Sensing and Finite Element Modeling

Abstract : In this paper, we present a novel pipeline to simultaneously estimate and manipulate the deformation of an object using only force sensing and an FEM model. The pipeline is composed of a sensor model, a deformation model and a pose controller. The sensor model computes the contact forces that are used as input to the deformation model which updates the volumetric mesh of a manipulated object. The controller then deforms the object such that a given pose on the mesh reaches a desired pose. The proposed approach is thoroughly evaluated in real experiments using a robot manipulator and a force-torque sensor to show its accuracy in estimating and manipulating deformations without the use of vision sensors.
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https://hal.uca.fr/hal-02925459
Contributor : Juan Antonio Corrales Ramon <>
Submitted on : Saturday, August 29, 2020 - 7:02:19 PM
Last modification on : Saturday, November 7, 2020 - 2:24:02 PM

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José Sanchez, Kamal Mohy El Dine, Juan Antonio Corrales Ramon, Belhassen-Chedli Bouzgarrou, Youcef Mezouar. Blind Manipulation of Deformable Objects Based on Force Sensing and Finite Element Modeling. Frontiers in Robotics and AI, Frontiers Media S.A., 2020, 1, ⟨10.3389/frobt.2020.00073⟩. ⟨hal-02925459⟩

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