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dc.contributor.author
Zimmermann, Simon
dc.contributor.author
Poranne, Roi
dc.contributor.author
Coros, Stelian
dc.date.accessioned
2021-04-22T13:41:47Z
dc.date.available
2021-04-22T03:11:54Z
dc.date.available
2021-04-22T13:40:53Z
dc.date.available
2021-04-22T13:41:47Z
dc.date.issued
2021-04
dc.identifier.issn
2377-3766
dc.identifier.other
10.1109/LRA.2021.3066969
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/479918
dc.description.abstract
Due to their complex dynamics and high-dimensional configuration spaces, non-rigid objects such as cables, garments, bedding and various food items remain notoriously challenging for robots to manipulate effectively. In this letter, we therefore develop, validate and analyze model-based optimal control techniques for dynamic manipulation of deformable objects. We study, in particular, the application of both the batch Newton method and the stagewise Differential Dynamic Programming (DDP) approach to this challenging problem domain. On a technical level, we derive analytic formulations for all necessary derivatives, noting that numerically stable simulation of deformable objects demands implicit integration schemes, which do not have closed form solutions. While both DDP and Newton's method converge quadratically, our experiments and analysis show that the relative overall performance of these two approaches depends heavily on the dimensions of the control problems being solved. We demonstrate the efficacy of our trajectory optimization formulations through a variety of simulation and real-world experiments. © 2021 IEEE.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.subject
Motion planning
en_US
dc.subject
Trajectory optimization
en_US
dc.title
Dynamic Manipulation of Deformable Objects With Implicit Integration
en_US
dc.type
Journal Article
dc.date.published
2021-03-17
ethz.journal.title
IEEE Robotics and Automation Letters
ethz.journal.volume
6
en_US
ethz.journal.issue
2
en_US
ethz.pages.start
4209
en_US
ethz.pages.end
4216
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
New York, NY
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
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
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
2021-04-22T03:12:02Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2021-04-22T13:41:09Z
ethz.rosetta.lastUpdated
2022-03-29T06:43:25Z
ethz.rosetta.versionExported
true
ethz.COinS
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