Manipulation of flexible objects - Archive ouverte HAL Accéder directement au contenu
Pré-Publication, Document De Travail Année : 2020

Manipulation of flexible objects

Andrea Cherubini

Résumé

Since decades, industrial robots are capable of grasping and manipulating rigid objects. This is possible because the geometry and position of such objects is known beforehand by the control software. For service robots, the task is more challenging, since it requires the robot to know all types of objects present in the environment (e.g., in an apartment) and to recognize them on the fly to automatically determine the manipulation strategy. Manipulating flexible objects is even more difficult, since along with their position, their shape also varies depending on the applied forces and on their physical properties. Yet, this task is paramount in many fields, spanning from construction to food industry and surgery. This essay reviews applications, challenges, past research works and perspectives of flexible robot manipulation.
Fichier principal
Vignette du fichier
B03-ACherubini-flexManipulation_encyclopedia.pdf (1.25 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02518483 , version 1 (25-03-2020)

Identifiants

  • HAL Id : hal-02518483 , version 1

Citer

Andrea Cherubini. Manipulation of flexible objects. 2020. ⟨hal-02518483⟩
266 Consultations
517 Téléchargements

Partager

Gmail Facebook X LinkedIn More