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Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts

Monguzzi, Andrea ; Karayiannidis, Yiannis LU orcid ; Rocco, Paolo and Zanchettin, Andrea Maria (2024) p.16139-16145
Abstract
This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO’s movement through contacts and fixtures. We propose a strategy to estimate the pose of unknown environmental contacts encountered during the manipulation of a DLO, classifying the induced constraints as unilateral, bilateral and fully constrained, exploiting the redundancy of force sensors. A semantic approach to define environmental constraints is introduced and incorporated into a graph-based model of the DLO. This model remains accurate as long as the DLO is under tension and is dynamically updated throughout the manipulation... (More)
This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO’s movement through contacts and fixtures. We propose a strategy to estimate the pose of unknown environmental contacts encountered during the manipulation of a DLO, classifying the induced constraints as unilateral, bilateral and fully constrained, exploiting the redundancy of force sensors. A semantic approach to define environmental constraints is introduced and incorporated into a graph-based model of the DLO. This model remains accurate as long as the DLO is under tension and is dynamically updated throughout the manipulation process, built by sequencing a set of primitives. The estimation strategy is validated through simulations and real-world experiments, demonstrating its potential in handling DLOs under various, possibly uncertain, constraints. (Less)
Please use this url to cite or link to this publication:
author
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2024 IEEE International Conference on Robotics and Automation, ICRA 2024
pages
6 pages
external identifiers
  • scopus:85202434574
DOI
10.1109/ICRA57147.2024.10610686
project
ELLIIT B14: Autonomous Force-Aware Swift Motion Control
RobotLab LTH
language
English
LU publication?
yes
id
a42a9601-6a43-49b0-b59e-c636e295011d
date added to LUP
2024-09-26 14:25:16
date last changed
2024-09-30 09:24:19
@inproceedings{a42a9601-6a43-49b0-b59e-c636e295011d,
  abstract     = {{This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO’s movement through contacts and fixtures. We propose a strategy to estimate the pose of unknown environmental contacts encountered during the manipulation of a DLO, classifying the induced constraints as unilateral, bilateral and fully constrained, exploiting the redundancy of force sensors. A semantic approach to define environmental constraints is introduced and incorporated into a graph-based model of the DLO. This model remains accurate as long as the DLO is under tension and is dynamically updated throughout the manipulation process, built by sequencing a set of primitives. The estimation strategy is validated through simulations and real-world experiments, demonstrating its potential in handling DLOs under various, possibly uncertain, constraints.}},
  author       = {{Monguzzi, Andrea and Karayiannidis, Yiannis and Rocco, Paolo and Zanchettin, Andrea Maria}},
  booktitle    = {{2024 IEEE International Conference on Robotics and Automation, ICRA 2024}},
  language     = {{eng}},
  month        = {{05}},
  pages        = {{16139--16145}},
  title        = {{Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts}},
  url          = {{http://dx.doi.org/10.1109/ICRA57147.2024.10610686}},
  doi          = {{10.1109/ICRA57147.2024.10610686}},
  year         = {{2024}},
}