Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/30393
Título : Action selection for robotic manipulation of deformable objects
Autor : Cuén Rochín, Saúl, Andrade-Cetto, J., Torras, Carme
Fecha de publicación : 2008
Editor: European Science Foundation
Citación : ESF-JSPS 2008
Resumen: 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.
Descripción : 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.
Versión del editor: http://www.esf.org/conferences/08231
URI : http://hdl.handle.net/10261/30393
Appears in Collections:(IRII) Comunicaciones congresos

Files in This Item:
File Description SizeFormat 
Action selection for robotic.pdf1,12 MBAdobe PDFView/Open
Show full item record
 
CSIC SFX LinksSFX Query

Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.