Reproduction of Flat and Flexible Object Deformation using RGB-D Sensor and Robotic Manipulator
Reproduction of Flat and Flexible Object Deformation using RGB-D Sensor and Robotic Manipulator
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DOI：
10.1109/robio55434.2022.10011851
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发表时间：
2022-12
期刊：
影响因子：
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通讯作者：
Xingxiu He;Vibekananda Dutta;T. Matsumaru
中科院分区：
文献类型：
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作者：
Xingxiu He;Vibekananda Dutta;T. Matsumaru
介绍了一种能够表示扁平柔性物体的不规则变形并在处于初始状态的类似物体上再现相同变形的方法。工作分两个阶段进行：（a）通过变形估计方法分析和估计目标状态下物体的变形，（B）通过实时传感器反馈回路进行规划和执行。该提案的新奇涉及检测主要变形，并忽略由于表面扭曲，表面粗糙度或噪声深度数据引起的不期望的变形。不同的实验设置被施加到有效地估计手帕的各种变形和再现类似的变形由六自由度机器人机械手和RGB-D视觉传感器。这项工作的主题是一个扁平的灵活的对象，但它可以扩展到更一般的条件。
This paper introduces a method that can represent the irregular deformations of a flat flexible object and reproduce the same deformations on a similar object which is in an initial state. The work was carried out in two stages: (a) analyze and estimate the deformation of the object in the target state by a deformation estimation method, (b) planning and execution by a real-time sensor feedback loop. The novelty of the proposal concerns detecting the major deformations and ignoring the undesired deformations due to surface wrinkling, surface roughness, or noisy depth data. Different experimental settings were applied to efficiently estimate the various deformations of the handkerchief and reproduce similar deformations by the six-degree-of-freedom robotic manipulator and RGB-D vision sensor. The subject of this work is a flat flexible object, but it can be extended for more general conditions.