| Title: |
Visual servoing for dual arm shaping of soft objects in 3D |
| Authors: |
Saghour, Célia; Celerier, Mathieu; Fraisse, Philippe; Cherubini, Andrea |
| Contributors: |
Interactive Digital Humans (LIRMM; Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM); Université de Perpignan Via Domitia (UPVD)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Université de Montpellier Paul-Valéry (UMPV)-Université de Perpignan Via Domitia (UPVD)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Université de Montpellier Paul-Valéry (UMPV) |
| Source: |
Humanoids 2023 - 22nd IEEE-RAS International Conference on Humanoid Robots ; https://hal.science/hal-04371353 ; Humanoids 2023 - 22nd IEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin, TX, United States. pp.1-7, ⟨10.1109/humanoids57100.2023.10375172⟩ |
| Publisher Information: |
CCSD; IEEE |
| Publication Year: |
2023 |
| Collection: |
Université de Perpignan: HAL |
| Subject Terms: |
Visualization; Three-dimensional displays; Deformation; Shape; Robot control; Humanoid robots; Feature extraction; [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] |
| Subject Geographic: |
Austin; TX; United States |
| Description: |
International audience ; We propose a real-time vision-based dual arm controller for manipulating soft objects in three dimensions. Our controller relies on a data-based approach to learn how the object deforms, without any prior knowledge of the shape nor material. We control the two arms with a cooperative task representation, which makes them move together in an absolute frame and/or relatively to one another. This allows object deformation in the relative frame and/or object motion in the absolute frame. Through a short initialization phase for extracting visual features with a Principal Component Analysis on the object contour points, we estimate an interaction matrix. This matrix relates the visual features to the robot control inputs for the cooperative task. At each step of the deformation, the process is reiterated with the last data and the interaction matrix is updated along a sliding window. Experiments on a few different objects show the accuracy of the method in real-time. |
| Document Type: |
conference object |
| Language: |
English |
| DOI: |
10.1109/humanoids57100.2023.10375172 |
| Availability: |
https://hal.science/hal-04371353; https://hal.science/hal-04371353v1/document; https://hal.science/hal-04371353v1/file/C52-Celia_ICHR_2023.pdf; https://doi.org/10.1109/humanoids57100.2023.10375172 |
| Rights: |
https://about.hal.science/hal-authorisation-v1/ ; info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.995F2D9A |
| Database: |
BASE |