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Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/30393
Title: Action selection for robotic manipulation of deformable objects
Authors: Cuén Rochín, Saúl; Andrade-Cetto, J.; Torras, Carme
Issue Date: 2008
Publisher: European Science Foundation
Citation: ESF-JSPS 2008
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.
Description: Presentado al Frontier Science Conference Series for Young Researchers: Robotics: Experimental Cognitive Robotics celebrado en Kanagawa (Japan) del 9 al 15 de marzo de 2008.
Publisher version (URL): http://www.esf.org/conferences/08231
URI: http://hdl.handle.net/10261/30393
Appears in Collections:(IRII) Comunicaciones congresos
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