scholarly journals Efficient model-based 3D tracking of deformable objects

2005 ◽  
Author(s):  
E. Munoz ◽  
J.M. Buenaposada ◽  
L. Baumela
Keyword(s):  
Deformable Objects ◽  
3D Tracking ◽  
Model Based

Robust Manipulation of Deformable Objects Using A Model Based Technique

2000 ◽  
Vol 2000.1 (0) ◽  
pp. 445-446
Author(s):  
Takahiro Wada ◽  
Hiroshige Mori ◽  
Nobuyoshi Koike ◽  
Shinichi Hirai ◽  
Sadao Kawamura
Keyword(s):  
Deformable Objects ◽  
Model Based

scholarly journals Model-Based Manipulation of Linear Flexible Objects: Task Automation in Simulation and Real World

Machines ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 46
Author(s):  
Peng Chang ◽  
Taşkın Padır
Keyword(s):  
Real World ◽  
Geometric Model ◽  
Model Parameters ◽  
Power Cable ◽  
Deformable Objects ◽  
Model Based ◽  
Revolute Joints ◽  
New Strategy ◽  
Flexible Objects ◽  
3D Geometric Model

Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Common deformable objects (e.g., wires, clothes, bed sheets, etc.) are significantly more difficult to model than rigid objects. In this research, we contribute to the model-based manipulation of linear flexible objects such as cables. We propose a 3D geometric model of the linear flexible object that is subject to gravity and a physical model with multiple links connected by revolute joints and identified model parameters. These models enable task automation in manipulating linear flexible objects both in simulation and real world. To bridge the gap between simulation and real world and build a close-to-reality simulation of flexible objects, we propose a new strategy called Simulation-to-Real-to-Simulation (Sim2Real2Sim). We demonstrate the feasibility of our approach by completing the Plug Task used in the 2015 DARPA Robotics Challenge Finals both in simulation and real world, which involves unplugging a power cable from one socket and plugging it into another. Numerical experiments are implemented to validate our approach.

Sign in / Sign up

Export Citation Format

Share Document