TY - GEN
T1 - Reproduction of Flat and Flexible Object Deformation using RGB-D Sensor and Robotic Manipulator
AU - He, Xin
AU - Dutta, Vibekananda
AU - Matsumaru, Takafumi
N1 - Funding Information:
* This study is partially supported by JSPS KAKENHI Grant Number JP22K04034 and Waseda University Grant for Special Research Projects Number 2022C-183, 2021C-589, 2020C-780, and 2020Q-015, and China Scholarship Council to which we would like to express our sincere gratitude.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBIO55434.2022.10011851
DO - 10.1109/ROBIO55434.2022.10011851
M3 - Conference contribution
AN - SCOPUS:85147330389
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 1257
EP - 1262
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -