Paper Info
Title
Vision-based Belt Manipulation by Humanoid Robot.
Abstract
Deformable objects are very common around us in our daily life. Because they have infinitely many degrees of freedom, they present a challenging problem in robotics. Inspired by practical industrial applications, we present in this paper our research on using a humanoid robot to take a long, thin and flexible belt out of a bobbin and pick up the bending part of the belt from the ground. By proposing a novel non-prehensile manipulation strategy \"scraping\" which utilizes the friction between the gripper and the surface of the belt, efficient manipulation can be achieved. In addition, a 3D shape detection algorithm for deformable objects is used during manipulation process. By integrating the novel \"scraping\" motion and the shape detection algorithm into our multi-objective QP-based controller, we show experimentally humanoid robots can complete this complex task.
Year
DOI
Venue
2020
10.1109/IROS45743.2020.9341174
IROS
DocType
Citations 
PageRank 
Conference
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Yili Qin100.68
Adrien Escande227322.91
Arnaud Tanguy313.07
Eiichi Yoshida452259.13