Automated folding of a deformable thin object through robot manipulators

Zhenxi Cui, Kaicheng Huang, Bo Lu, Henry K. Chu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

This paper presents a model-free approach to automate folding of a deformable object with robot manipulators, where its surface was labelled with markers to facilitate vision-based control and alignment. While performing the task involves solving nonconvex or nonlinear terms, in this paper, linearization was first performed to approximate the problem. By using the Levenberg-Marquardt algorithm, the task of folding a deformable thin object can be reformulated as a convex optimization problem. The mapping relationship between the motions of markers on the image and the joint inputs of the robot manipulator was evaluated through a Jacobian matrix. To account for the uncertainty in the matrix due to the deformable object, a two-stage evaluation scheme, which consists of approximate-rigidity rule and Broyden-update rule, was performed. Proper constraints were also added to avoid causing damage to the object. The performance and the robustness of the proposed approach were examined through simulation using Bullet simulator. The video of the simulation can be retrieved from the attachment. The results confirm that the thin object can be precisely folded together based on different markers labelled on the surface.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4241-4248
Number of pages8
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 24 Oct 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 24 Oct 202024 Jan 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period24/10/2024/01/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this