Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts
(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:
https://lup.lub.lu.se/record/a42a9601-6a43-49b0-b59e-c636e295011d
- author
- Monguzzi, Andrea ; Karayiannidis, Yiannis LU ; Rocco, Paolo and Zanchettin, Andrea Maria
- organization
- publishing date
- 2024-05-31
- 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}}, }