Journal articles
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.
Cited literature [29 references]
https://hal.uca.fr/hal-02925459
Contributor : Juan Antonio Corrales Ramon <>
Submitted on : Saturday, August 29, 2020 - 7:02:19 PM
Last modification on : Thursday, March 11, 2021 - 10:10:03 AM
Long-term archiving on: : Monday, November 30, 2020 - 12:21:03 PM
Contributor : Juan Antonio Corrales Ramon <>
Submitted on : Saturday, August 29, 2020 - 7:02:19 PM
Last modification on : Thursday, March 11, 2021 - 10:10:03 AM
Long-term archiving on: : Monday, November 30, 2020 - 12:21:03 PM
File
frobt-07-00073.pdf
Publication funded by an institution
Licence
Distributed under a Creative Commons Attribution - NonCommercial - NoDerivatives 4.0 International License
