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dc.contributor.authorCuén Rochín, Saúl
dc.contributor.authorAndrade-Cetto, Juan
dc.contributor.authorTorras, Carme
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2009-03-13T09:26:41Z
dc.date.available2009-03-13T09:26:41Z
dc.date.created2008
dc.date.issued2008
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.identifier.urihttp://hdl.handle.net/2117/2714
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.language.isoeng
dc.publisherESF-JSPS
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.subject.lcshRobots
dc.subject.lcshRobotics
dc.titleAction selection for robotic manipulation of deformable objects
dc.typeConference report
dc.subject.lemacVisió per ordinador
dc.subject.lemacRobots
dc.subject.lemacRobòtica
dc.date.end2008-03-15
dc.date.start2008-03-09
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Pattern recognition::Computer vision
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access


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