Show simple item record

dc.contributor.authorCuén Rochín, Saúl
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.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.
dc.description.abstractThis 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.
dc.format.extentp. 1-6
dc.relation.ispartofFrontier Science Conference Series for Young Researchers: Experimental Cognitive Robotics (FSCYR:ECR)
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshComputer vision
dc.titleAction selection for robotic manipulation of deformable objects
dc.typeConference report
dc.subject.lemacVisió per ordinador
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access

Files in this item


This item appears in the following Collection(s)

Show simple item record

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder