Visual servoing for dual arm shaping of soft objects in 3D - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Visual servoing for dual arm shaping of soft objects in 3D

Célia Saghour
  • Fonction : Auteur
  • PersonId : 1372693
  • IdRef : 275866114
Mathieu Celerier
Philippe Fraisse
Andrea Cherubini

Résumé

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.
Fichier principal
Vignette du fichier
C52-Celia_ICHR_2023.pdf (2.57 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04371353 , version 1 (03-01-2024)

Identifiants

Citer

Célia Saghour, Mathieu Celerier, Philippe Fraisse, Andrea Cherubini. Visual servoing for dual arm shaping of soft objects in 3D. Humanoids 2023 - 22nd IEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin, TX, United States. pp.1-7, ⟨10.1109/humanoids57100.2023.10375172⟩. ⟨hal-04371353⟩
13 Consultations
17 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More