Action selection for robotic manipulation of deformable objects
Document typeConference report
Rights accessOpen Access
This paper deals with the manipulation of planar deformable objects for typical service robot applications. Specifically, we present a system that straightens pieces of cloth from any arbitrary initial wrinkle condition using a robotic manipulator. The cloth is modeled with a Finite Element Method, and its state is estimated with a physical-based implicit integration scheme that computes particle velocities as a function of internal and external forces acting on the object. The state of the object is tracked with a stochastic observer, in which measurements come from a stereo vision system. Manipulation actions are chosen maximizing an a-optimal information measure. To our knowledge, this is the first time that a stochastic state estimator has been derived for an implicit integration model of a deformable planar object, bridging the gap between computer simulation and vision-based tracking of the state of deformable planar objects for manipulation.
CitationCuén Rochín, Saúl; Andrade-Cetto, Juan; Torras, Carme. "Action selection for robotic manipulation of deformable objects". A: 2008 Frontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics (FSCYR:ECR), Kanagawa, Japó, 2008. ESF-JSPS, 2008, p. 1-6.