TY - GEN
T1 - A Unified Controller for Region-reaching and Deforming of Soft Objects
AU - Wang, Zerui
AU - Li, Xiang
AU - Navarro-Alarcon, David
AU - Liu, Yun Hui
PY - 2018/12/27
Y1 - 2018/12/27
N2 - Emerging applications of robotic manipulation of deformable objects have opened up new challenges in robot control. While several control techniques have been developed to manipulate deformable objects, the performance of existing methods is commonly limited by two issues: 1) implicit assumption that the physical contact between the end-effector and the object is always maintained, and 2) requirements of exact parameters of deformation model, which are difficult to obtain. This paper presents a new control scheme for robotic manipulation of deformable objects, which allows the robot to automatically contact then actively deform the deformable object by assessing the status of deformation in real time. Instead of designing multiple controllers and switching among them, the proposed method smoothly and stably integrates two control phases (i.e. region reaching and active deforming) into a single controller. The stability of the closed-loop system is rigorously proved with the consideration of the uncertain deformation model and uncalibrated cameras. Hence, the proposed control scheme enhances the autonomous capability of active deformable object manipulation. Experimental studies are conducted with different initial conditions to demonstrate the performance of the proposed controller.
AB - Emerging applications of robotic manipulation of deformable objects have opened up new challenges in robot control. While several control techniques have been developed to manipulate deformable objects, the performance of existing methods is commonly limited by two issues: 1) implicit assumption that the physical contact between the end-effector and the object is always maintained, and 2) requirements of exact parameters of deformation model, which are difficult to obtain. This paper presents a new control scheme for robotic manipulation of deformable objects, which allows the robot to automatically contact then actively deform the deformable object by assessing the status of deformation in real time. Instead of designing multiple controllers and switching among them, the proposed method smoothly and stably integrates two control phases (i.e. region reaching and active deforming) into a single controller. The stability of the closed-loop system is rigorously proved with the consideration of the uncertain deformation model and uncalibrated cameras. Hence, the proposed control scheme enhances the autonomous capability of active deformable object manipulation. Experimental studies are conducted with different initial conditions to demonstrate the performance of the proposed controller.
KW - robotics
KW - control
UR - http://www.scopus.com/inward/record.url?scp=85062999034&partnerID=8YFLogxK
U2 - 10.1109/IROS.2018.8593543
DO - 10.1109/IROS.2018.8593543
M3 - Conference article published in proceeding or book
AN - SCOPUS:85062999034
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 472
EP - 478
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -