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Robot Manipulation Of Deformable Objects
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Book Synopsis Robot Manipulation of Deformable Objects by : Dominik Henrich
Download or read book Robot Manipulation of Deformable Objects written by Dominik Henrich and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation
Book Synopsis Robot Manipulation of Deformable Objects by : Dominik Henrich
Download or read book Robot Manipulation of Deformable Objects written by Dominik Henrich and published by . This book was released on 2000-05-25 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation
Book Synopsis Robot Manipulation of Deformable Objects by : Dominik Henrich
Download or read book Robot Manipulation of Deformable Objects written by Dominik Henrich and published by Springer. This book was released on 2011-09-17 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation
Book Synopsis Robot Dynamic Manipulation by : Bruno Siciliano
Download or read book Robot Dynamic Manipulation written by Bruno Siciliano and published by Springer Nature. This book was released on 2022-03-02 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book collects the main results of the Advanced Grant project RoDyMan funded by the European Research Council. As a final demonstrator of the project, a pizza-maker robot was realized. This represents a perfect example of understanding the robot challenge, considering every inexperienced person's difficulty preparing a pizza. Through RoDyMan, the opportunity was to merge all the acquired competencies in advancing the state of the art in nonprehensile dynamic manipulation, which is the most complex manipulation task, considering deformable objects. This volume is intended to present Ph.D. students and postgraduates working on deformable object perception and robot manipulation control the results achieved within RoDyMan and propose cause for reflection of future developments. The RoDyMan project culminating with this book is meant as a tribute to Naples, the hosting city of the project, an avant-garde city in robotics technology, automation, gastronomy, and art culture.
Book Synopsis Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback by : Yi Zheng
Download or read book Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback written by Yi Zheng and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Perceiving and manipulating deformable objects with the sense of touch are essential skills in everyday life. However, it remains difficult for robots to autonomously manipulate deformable objects using tactile sensing because of numerous perception, modeling, planning, and control challenges. We believe this is partially due to two fundamental challenges: (1) Establishing a physics-based model describing physical interactions between deformable tactile sensors and deformable objects is difficult; (2) Modern tactile sensors provide high-dimensional data, which is beneficial for perception but impedes the development of practical planning and control strategies. To address these challenges, we developed systematic frameworks for the tactile-driven manipulation of deformable objects that integrates state-of-the-art tactile sensing with well-established tools used by other robotics communities. In Study \#1, we showed how a robot can learn to manipulate a deformable, thin-shell object via tactile sensor feedback using model-free reinforcement learning methods. A page flipping task was learned on a real robot using a two-stage approach. First, we learned nominal page flipping trajectories by constructing a reward function that quantifies functional task performance from the perspective of tactile sensing. Second, we learned adapted trajectories using tactile-driven perceptual coupling, with an intuitive assumption that, while the functional page flipping trajectories for different task contexts (page sizes) might differ, similar tactile sensing feedback should be expected. In Study \#2, we showed how a robot can use tactile sensor feedback to control the pose and tension of a deformable linear object (elastic cable). For a cable manipulation task, low-dimensional latent space features were extracted from high-dimensional raw tactile sensor data using unsupervised learning methods, and a dynamics model was constructed in the latent space using supervised learning methods. The dynamics model was integrated with an optimization-based, model predictive controller for end-to-end, tactile-driven motion planning and control on a real robot. In summary, we developed frameworks for the tactile-driven manipulation of deformable objects that either circumvents sensor modeling difficulties or constructs a dynamics model directly from tactile feedback and uses the model for planning and control. This work provides a foundation for the further development of systematic frameworks that can address complex, tactile-driven manipulation problems.
Book Synopsis Shape Sensing of Deformable Objects for Robot Manipulation by : Jose Manuel Sanchez Loza
Download or read book Shape Sensing of Deformable Objects for Robot Manipulation written by Jose Manuel Sanchez Loza and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Deformable objects are ubiquitous in our daily lives. On a given day, we manipulate clothes into uncountable configurations to dress ourselves, tie the shoelaces on our shoes, pick up fruits and vegetables without damaging them for our consumption and fold receipts into our wallets. All these tasks involve manipulating deformable objects and can be performed by an able person without any trouble, however robots have yet to reach the same level of dexterity. Unlike rigid objects, where robots are now capable of handling objects with close to human performance in some tasks; deformable objects must be controlled not only to account for their pose but also their shape. This extra constraint, to control an object's shape, renders techniques used for rigid objects mainly inapplicable to deformable objects. Furthermore, the behavior of deformable objects widely differs among them, e.g. the shape of a cable and clothes are significantly affected by gravity while it might not affect the configuration of other deformable objects such as food products. Thus, different approaches have been designed for specific classes of deformable objects.In this thesis we seek to address these shortcomings by proposing a modular approach to sense the shape of an object while it is manipulated by a robot. The modularity of the approach is inspired by a programming paradigm that has been increasingly been applied to software development in robotics and aims to achieve more general solutions by separating functionalities into components. These components can then be interchanged based on the specific task or object at hand. This provides a modular way to sense the shape of deformable objects.To validate the proposed pipeline, we implemented three different applications. Two applications focused exclusively on estimating the object's deformation using either tactile or force data, and the third application consisted in controlling the deformation of an object. An evaluation of the pipeline, performed on a set of elastic objects for all three applications, shows promising results for an approach that makes no use of visual information and hence, it could greatly be improved by the addition of this modality.
Book Synopsis Point-Based Graphics by : Markus Gross
Download or read book Point-Based Graphics written by Markus Gross and published by Elsevier. This book was released on 2011-05-04 with total page 553 pages. Available in PDF, EPUB and Kindle. Book excerpt: The polygon-mesh approach to 3D modeling was a huge advance, but today its limitations are clear. Longer render times for increasingly complex images effectively cap image complexity, or else stretch budgets and schedules to the breaking point. Comprised of contributions from leaders in the development and application of this technology, Point-Based Graphics examines it from all angles, beginning with the way in which the latest photographic and scanning devices have enabled modeling based on true geometry, rather than appearance. From there, it’s on to the methods themselves. Even though point-based graphics is in its infancy, practitioners have already established many effective, economical techniques for achieving all the major effects associated with traditional 3D Modeling and rendering. You’ll learn to apply these techniques, and you’ll also learn how to create your own. The final chapter demonstrates how to do this using Pointshop3D, an open-source tool for developing new point-based algorithms. The first book on a major development in computer graphics by the pioneers in the field Shows how 3D images can be manipulated as easily as 2D images are with Photoshop
Book Synopsis Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review by : Fouad F. Khalil
Download or read book Dexterous Robotic Manipulation of Deformable Objects with Multi-Sensory Feedback - a Review written by Fouad F. Khalil and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In an attempt to support the ongoing effort of development for robotic solutions to the manipulation of deformable objects with multi-sensory feedback, this chapter reviewed the major trends adopted over the last decades in autonomous robotic interaction, which remains mainly guided by vision and force/tactile sensing. This extensive survey aimed at providing and classifying a critical list of relevant references that broadly cover the field. Starting from an overview of classical modeling and control techniques with application to the robotic manipulation of rigid objects, the review investigated how these approaches are being extended to the case of deformable objects manipulation. The main issues related with the significant differences between rigid and non-rigid objects were highlighted and consideration was given to a wide range of solutions that have been proposed, often in direct correspondence with a specific application. It is noticeable that most of the control methods available in the literature are applied to manipulate 1D and 2D deformable objects. The study of how to control a robot arm to handle a 3D deformable object still remains an open subject. Only a few early attempts to produce a generalized approach for handling 3D deformable objects were reported. Also, most of the proposed solutions currently available address the modeling problem of 3D deformable objects without attempting to solve the control problem simultaneously. Furthermore, the manipulation process does not involve any dexterity considerations. The study of these aspects is essential for the current effort of the robotic research community to establish a novel framework for the purpose of dexterous handling of 3D deformable objects. It involves the development of sophisticated multi-sensory systems to work in coordination with a robot arm and hand, taking into account their mechanical structure and control scheme, that influence the accuracy, and the dexterity. The integration of such complementary techniques will ensure that more elaborate manipulation can be achieved in the near future.
Book Synopsis Robotic Control of Deformable Continua and Objects Therein by : Jadav Das
Download or read book Robotic Control of Deformable Continua and Objects Therein written by Jadav Das and published by . This book was released on 2010 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robotic Control for the Manipulation of 3D Deformable Objects by : Stephen Rowlands
Download or read book Robotic Control for the Manipulation of 3D Deformable Objects written by Stephen Rowlands and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic grasping and manipulation of three-dimensional deformable objects is a complex task that currently does not have robust and flexible solutions. Deformable objects include a wide variety of elastic and inelastic objects that change size and shape during manipulation. The development of adaptable methods for grasping and autonomously controlling the shape of three-dimensional deformable objects will benefit many commercial applications, including shaping parts for assembly in manufacturing, manipulating food for packaging and controlling tissues during robotic surgery. Controlling a deformable object to a desired shape requires first choosing contact points on the object's surface. Next, the robotic hand is positioned in the correct position and orientation to grasp and deform the object. After deformation, the object is assessed to evaluate the quality of the shape control procedure. In many cases, this process is completed without knowing the object's properties or behaviour before deformation. This work proposes and implements the framework for a robotic arm and hand system to control the shape of a previously unseen deformable object autonomously. Significant original contributions are made in developing an original algorithm to plan contact points on a three-dimensional object for grasping and shape control. This research uses a novel object representation to reduce the dimensionality of the deformable object manipulation problem. A path planning algorithm guides the robot arm to the optimal valid grasp pose to deform the object at the determined contact points. Additional contributions include developing a multi-view assessment strategy to determine the quality of the deformation towards the desired shape. The system completes the objectives using depth and colour images captured from a single point of view to locate and identify a previously unseen three-dimensional object within a robotic workspace. After estimating the unknown object's geometry, initial grasp contact points are planned to control the object to the desired shape. The grasp points are used to plan and execute a collision-free trajectory for the robot manipulator to place the robotic hand in the optimal position and orientation to grasp and deform the object. After the deformation is complete, the object is moved to a variety of assessment positions to determine the success of the shape control procedure. The system is validated experimentally on a variety of deformable three-dimensional objects.
Book Synopsis Model-independent Vision-based Indirect Manipulation of Unknown Deformable Objects Using the Da Vinci Surgical Robotic System by : Kunal Nalamwar
Download or read book Model-independent Vision-based Indirect Manipulation of Unknown Deformable Objects Using the Da Vinci Surgical Robotic System written by Kunal Nalamwar and published by . This book was released on 2021 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite a lot of progress in rigid body manipulation in the field of robotics, autonomous deformable object manipulation has been for long an unexplored and untouched area of research. The deformable object manipulation problem has recently come into the spotlight because of the potential economically important applications in the food, medical, home as well the manufacturing industry. Most of the research in this direction assumed homogeneous physical properties and ignored the existence of any disturbances or considered some a priori knowledge of the manipulation environment. Also, the parametric identification of the deformation model is difficult to perform beforehand since it requires several physical interactions testing and might not completely capture viscoelastic and time variant nature of many deformable objects. Hence, we present here a new optimization-based feedback method to automatically servo-control the shape of soft objects with robotic manipulators. This vision-based feedback helps in online estimation of the deformable object and does not require any prior knowledge about the object. To evaluate the performance of the proposed method, da Vinci Research Kit was used and the experiment used a rectangular silicone slab as an unknown deformable object. Setting up the robot, development of scripts along with software upgrades for the experiment and teleoperation were performed. Experiments for homogeneous 2-D manipulation demonstrated successful real-time estimation and performance of the algorithm while manipulating the silicone to desired points. Chapter 2 talks about the utilized robotic hardware that is the da Vinci Research Kit (dVRK). The now retired first generation da Vinci robot along with its arms has been described. This chapter also talks about the controller stack, surgeon console as well as the vision stack. Different tools which have been used are also described. Chapter 3 talks about the software stack, which was developed for autonomous manipulation. It includes description about writing JSON scripts for making the robot work. We also talk about the changes made in calibration files for compatibility with dVRK 2.0. Teleoperation capabilities were also set up. Explanation of setting up the video feed from endoscope has been explained. Vision based algorithms for object tracking and corner detection have also been mentioned. We have also briefly explained the robot control algorithm used. Chapter 4 talks about the experiments performed and their results. Successful teleoperation has been described along with the task which was completed. Results also have been presented for successful one arm and two arm autonomous manipulations. Chapter 5 talks about the Conclusion and describes the Future Work about using motion capture system which can act as a replacement to the existing endoscope video feed
Book Synopsis Annals of Scientific Society for Assembly, Handling and Industrial Robotics by : Thorsten Schüppstuhl
Download or read book Annals of Scientific Society for Assembly, Handling and Industrial Robotics written by Thorsten Schüppstuhl and published by Springer Nature. This book was released on 2020-08-21 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI).
Book Synopsis Springer Handbook of Robotics by : Bruno Siciliano
Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer. This book was released on 2016-07-27 with total page 2259 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Book Synopsis Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data by : Pasu Boonvisut
Download or read book Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data written by Pasu Boonvisut and published by . This book was released on 2013 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic motion planning algorithms for manipulation of deformable objects, such as in medical robotics applications, rely on accurate estimations of object deformations that occur during manipulation. An estimation of the tissue response, in turn, requires knowledge of both object constitutive parameters and boundary constraints. In this study, novel algorithms for estimating mechanical parameters and boundary constraints of deformable objects from robotic manipulation data are presented. The proposed algorithms use tissue deformation data collected from robotic perception and compares with deformation estimates obtained using finite element models. Specifically, the algorithm for estimation of the constitutive parameters uses an inverse finite element method, while the algorithm for boundary constraint estimation employs a multi-stage hill climbing procedure. An active exploration technique, which uses an information maximization approach, is also proposed to extend the identification algorithm. The effects of uncertainties on the proposed methods are analyzed in simulation. The results of experimental evaluation of the methods are also presented.
Book Synopsis Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by : Qiang Li
Download or read book Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Book Synopsis Robotics Research by : Nancy M. Amato
Download or read book Robotics Research written by Nancy M. Amato and published by Springer Nature. This book was released on 2019-11-28 with total page 1058 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
Book Synopsis Simulation of Deformable Objects for Sim2Real Applications in Robotics by : Andrew Sang-Jin Choi
Download or read book Simulation of Deformable Objects for Sim2Real Applications in Robotics written by Andrew Sang-Jin Choi and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: From manipulators to self-driving cars, training robots in the real world is often tedious, expensive, and results in hardware wear-and-tear. Due to the aforementioned reasons, the concept of transferring useful skills from "sim2real" has become an extremely attractive avenue for robotics researchers. Training purely (or partially) from simulation boasts numerous immense benefits such as allowing researchers to explore dangerous state spaces, learn faster than real-time, and even employ multiple agents to learn in parallel. Despite this, there currently exists a prominent "sim2real gap", where skills and/or models learned from within simulation transfer poorly to the real world due to environment misalignment. Given the scarcity of physically adequate models, this sim2real gap is especially prominent in contact-rich scenarios as well as problem spaces concerning deformables, whether it be the manipulation of deformable objects or soft robots themselves. In this thesis, I present a culmination of our previous works tackling two key sequential research areas: 1) development of efficient, physically accurate simulators for soft robots and structures and 2) full end-to-end sim2real solutions for robotic deformable material handling for tasks such as stiff sheet folding and deformable linear object deployment. Throughout these works, we showcase the immense benefits of developing solutions with physical insight in the areas of simulation, perception, and robotic manipulation.
