Name
Abstract | ||
|---|---|---|
In this paper, we address the challenge of robotic manipulation of elastically deforming objects. To this end, we model elastic objects using the Finite Element Method. Through a quasi-static assumption, we leverage sensitivity analysis to mathematically model how changes in the robot's configuration affect the deformed shape of the object being manipulated. This enables an interactive, simulation-based control methodology, wherein user-specified deformations for the elastic objects are automatically mapped to joint angle commands. The optimization formulation we introduce is general, operates directly within a robot's workspace and can readily incorporate joint limits as well as collision avoidance between the links. We validate our control methodology on a YuMi (R) IRB 14000, which we use to manipulate a variety of elastic objects. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IROS.2018.8594291 | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | ISSN |
Computer vision,Computer science,Workspace,Finite element method,Collision,Artificial intelligence,Robot,Elasticity (economics) | Conference | 2153-0858 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Simon Duenser | 1 | 1 | 1.03 |
| James M. Bern | 2 | 14 | 1.98 |
| Roi Poranne | 3 | 142 | 11.86 |
| Stelian Coros | 4 | 862 | 56.47 |