Presentado al Frontier Science Conference Series for Young Researchers: Robotics: Experimental Cognitive Robotics celebrado en Kanagawa (Japan) del 9 al 15 de marzo de 2008. ; 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. ; This work was supported by projects: 'Perception, action & cognition through learning of object-action complexes.' (4915), 'Grup de recerca consolidat - ROBÒTICA' (8007). This work is supported by the EU PACO-PLUS project FP6-2004-IST-4-27657, by the Spanish Ministry of Education and Science through a Ramón y Cajal Fellowship to JAC, and by the Catalan Research Commission, through a FI scholarship to SCR, and the Consolidated Robotics Group. ; Peer Reviewed
Action selection for robotic manipulation of deformable objects
2008-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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