Interactive Robotic Manipulation of Elastic Objects

Simon Duenser; James M. Bern; Roi Poranne; Stelian Coros

doi:10.1109/IROS.2018.8594291

Interactive Robotic Manipulation of Elastic Objects

Simon Duenser, James M. Bern, Roi Poranne, Stelian Coros

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we address the challenge of robotic manipulation of elastically deforming objects. To this end, we model elastic objects using the Finite Element Method. Through a quasi-static assumption, we leverage sensitivity analysis to mathematically model how changes in the robot's configuration affect the deformed shape of the object being manipulated. This enables an interactive, simulation-based control methodology, wherein user-specified deformations for the elastic objects are automatically mapped to joint angle commands. The optimization formulation we introduce is general, operates directly within a robot's workspace and can readily incorporate joint limits as well as collision avoidance between the links. We validate our control methodology on a YuMi® IRB 14000, which we use to manipulate a variety of elastic objects.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3476-3481
Number of pages	6
ISBN (Electronic)	9781538680940
DOIs	https://doi.org/10.1109/IROS.2018.8594291
State	Published - 27 Dec 2018
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country/Territory	Spain
City	Madrid
Period	1/10/18 → 5/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/IROS.2018.8594291

Cite this

Duenser, S., Bern, J. M., Poranne, R., & Coros, S. (2018). Interactive Robotic Manipulation of Elastic Objects. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 3476-3481). Article 8594291 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594291

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title = "Interactive Robotic Manipulation of Elastic Objects",

abstract = "In this paper, we address the challenge of robotic manipulation of elastically deforming objects. To this end, we model elastic objects using the Finite Element Method. Through a quasi-static assumption, we leverage sensitivity analysis to mathematically model how changes in the robot's configuration affect the deformed shape of the object being manipulated. This enables an interactive, simulation-based control methodology, wherein user-specified deformations for the elastic objects are automatically mapped to joint angle commands. The optimization formulation we introduce is general, operates directly within a robot's workspace and can readily incorporate joint limits as well as collision avoidance between the links. We validate our control methodology on a YuMi{\textregistered} IRB 14000, which we use to manipulate a variety of elastic objects.",

author = "Simon Duenser and Bern, {James M.} and Roi Poranne and Stelian Coros",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

year = "2018",

month = dec,

day = "27",

doi = "10.1109/IROS.2018.8594291",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Duenser, S, Bern, JM, Poranne, R & Coros, S 2018, Interactive Robotic Manipulation of Elastic Objects. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594291, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 3476-3481, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8594291

Interactive Robotic Manipulation of Elastic Objects. / Duenser, Simon; Bern, James M.; Poranne, Roi et al.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3476-3481 8594291 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, we address the challenge of robotic manipulation of elastically deforming objects. To this end, we model elastic objects using the Finite Element Method. Through a quasi-static assumption, we leverage sensitivity analysis to mathematically model how changes in the robot's configuration affect the deformed shape of the object being manipulated. This enables an interactive, simulation-based control methodology, wherein user-specified deformations for the elastic objects are automatically mapped to joint angle commands. The optimization formulation we introduce is general, operates directly within a robot's workspace and can readily incorporate joint limits as well as collision avoidance between the links. We validate our control methodology on a YuMi® IRB 14000, which we use to manipulate a variety of elastic objects.

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Interactive Robotic Manipulation of Elastic Objects

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

UN SDGs

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