Interactive Robotic Manipulation of Elastic Objects
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Date
2018
Publication Type
Conference Paper
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yes
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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® IRB 14000, which we use to manipulate a variety of elastic objects.
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Publication status
published
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Book title
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Journal / series
Volume
Pages / Article No.
3476 - 3481
Publisher
IEEE
Event
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Edition / version
Methods
Software
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Date created
Subject
Organisational unit
09620 - Coros, Stelian / Coros, Stelian
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication