Manipulating deformable linear objects: sensor-based fast manipulation during vibration

Yue, Shigang; Henrich, Dominik

doi:10.1109/robot.2002.1013602

Cited by 14 publications

(11 citation statements)

References 19 publications

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“…The insertion of a vibrating linear deformable object into a hole by using a force/torque sensor mounted on the robot's wrist has been studied by Yue and Henrich [12]. The assembly of a rubber belt and fixed pulleys, where a rubber belt is inserted into a small pulley, and then the belt is stretched so as to be inserted into a bigger pulley, have been discussed by Miura and Ikeuchi [13,14].…”

Section: Related Workmentioning

confidence: 99%

Human-based framework for the assembly of elastic objects by a dual-arm robot

2017

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This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind of assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a dual-arm robot. The proposed framework is a combination of human movements to determine the overall assembly strategy and an optimizationbased motion planner to generate the robot trajectories. The motion of the human's hands, more specifically, the motion of the fingers gripping the object is captured by a Leap Motion Controller. Then, key points in the recorded trajectory of the position and orientation of the human's fingers are extracted. These points are used as partial goals in the optimization-based motion planner that generates the robot arms' trajectories which minimize the object's deformation. Through experimental results it was verified the validity of the extracted key points from the human's movements that enable the robot to successfully assemble ring-shaped elastic objects. We compared these results with the assembly done by purely repeating all of the human's hands movements.

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Section: Related Workmentioning

confidence: 99%

Human-based framework for the assembly of elastic objects by a dual-arm robot

2017

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“…Regarding assembly tasks of flexible parts, previous work has mainly discussed the insertion of a flexible beam [12] and a flexible wire [13]. The insertion of a vibrating linear deformable object into a hole by using a force/torque sensor mounted on the robot's wrist has been studied in [16]. The assembly of a rubber belt and fixed pulleys, where a rubber belt is inserted into a small pulley, and then the belt is stretch so as to be inserted into a bigger pulley, have been discussed in [14], [15].…”

Section: Related Workmentioning

confidence: 99%

Motion planning for dual-arm assembly of ring-shaped elastic objects

Ramirez-Alpizar

Harada

Yoshida³

2014

2014 IEEE-RAS International Conference on Humanoid Robots

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This paper discusses a motion planning method for assembling a ring-shaped elastic part to a cylindrical part by using a dual-arm manipulator. When assembling a ringshaped elastic part, it is important to keep the amount of elastic deformation as small as possible during the assembly task. To achieve this purpose, we show that it is effective to utilize the Covariant Hamiltonian Optimization and Motion Planing (CHOMP) method. We introduce an energy based objective functional that is obtained by adding a term related to the potential energy of the elastic object. This objective functional yields a trajectory where the deformation of the elastic object is minimized. At the same time, we modified the collision cost function such that the robot can approach to the assembly parts as much as permitted without colliding. To confirm the validity of the proposed planner, simulation results of the PR2 robot handling a ring-shaped elastic object are shown. We show that our modified motion planner is able to find a feasible trajectory keeping the deformation of the elastic object small, and we analyzed the objective functional weights to obtain smaller energy costs.

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“…Other than the references mentioned above, another set of publications dealing with interesting issues of applications involving 1D and 2D deformable objects manipulation were also reported. Amongst these applications, methods were proposed to extract and handle fruits and vegetables with specialized grippers in (Naghdy & Esmaili, 1996;Davis et al 2008), to manipulate linear objects in (Zheng & Chen, 1993;Schmidt & Henrich, 2001;Schlechter & Henrich, 2002;Yue & Henrich, 2002 ;Acker & Henrich, 2003), to handle postal sacks in (Kazerooni & Foley, 2005), to manipulate bound book pages in (Young & Nourbakhsh, 2004), for knotting manipulation in (Wakamatsu et al, 2002;, and to automate unfolding fabrics in (Ono, 2000) .…”

Section: Deformable Objects Manipulation In the Industrymentioning

confidence: 99%