Interactive Robotic Manipulation of Elastic Objects
dc.contributor.author
Dünser, Simon
dc.contributor.author
Bern, James M.
dc.contributor.author
Poranne, Roi
dc.contributor.author
Coros, Stelian
dc.date.accessioned
2024-02-07T10:01:46Z
dc.date.available
2019-03-12T07:33:28Z
dc.date.available
2024-02-07T10:01:46Z
dc.date.issued
2018
dc.identifier.isbn
978-1-5386-8094-0
en_US
dc.identifier.isbn
978-1-5386-8093-3
en_US
dc.identifier.isbn
978-1-5386-8095-7
en_US
dc.identifier.other
10.1109/IROS.2018.8594291
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/330702
dc.description.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.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Interactive Robotic Manipulation of Elastic Objects
en_US
dc.type
Conference Paper
dc.date.published
2019-01-07
ethz.book.title
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
en_US
ethz.pages.start
3476
en_US
ethz.pages.end
3481
en_US
ethz.event
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
en_US
ethz.event.location
Madrid, Spain
en_US
ethz.event.date
October 1-5, 2018
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
ethz.date.deposited
2019-01-21T11:15:47Z
ethz.source
WOS
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2019-03-12T07:33:33Z
ethz.rosetta.lastUpdated
2020-02-15T17:41:24Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/330195
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/317880
ethz.COinS
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