Robotic manipulation of deformable objects is challenging due to the great variety of materials and shapes. This task is even more complex when the object is also fragile, and the allowed amount of deformation needs to be constrained. For the goal of driving a thin fragile deformable object to a target 2D position and orientation, we propose a manipulation method based on executing planar pushing actions on the object edges with a robotic arm. Firstly, we obtain a probabilistic model through Gaussian process regression, which represents the time-varying deformation properties of the system. Then, we exploit the model in the framework of an Adaptive Bayesian Optimization (ABO) algorithm to compute the pushing action at each instant. We evaluate our proposal in simulation.


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    Titel :

    Adaptive Bayesian Optimization for Robotic Pushing of Thin Fragile Deformable Objects


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Marques, Lino (Herausgeber:in) / Santos, Cristina (Herausgeber:in) / Lima, José Luís (Herausgeber:in) / Tardioli, Danilo (Herausgeber:in) / Ferre, Manuel (Herausgeber:in) / Herguedas, Rafael (Autor:in) / Sundaram, Ashok M. (Autor:in) / López-Nicolás, Gonzalo (Autor:in) / Roa, Máximo A. (Autor:in) / Sagüés, Carlos (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023



    Erscheinungsdatum :

    27.04.2024


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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