Blind Manipulation of Deformable Objects Based on Force Sensing and Finite Element Modeling

In this paper, we present a novel pipeline to simultaneously estimate and manipulate the deformation of an object using only force sensing and an FEM model. The pipeline is composed of a sensor model, a deformation model and a pose controller. The sensor model computes the contact forces that are us...

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Detalhes bibliográficos
Publicado no:Front Robot AI
Main Authors: Sanchez, Jose, Mohy El Dine, Kamal, Corrales, Juan Antonio, Bouzgarrou, Belhassen-Chedli, Mezouar, Youcef
Formato: Artigo
Idioma:Inglês
Publicado em: Frontiers Media S.A. 2020
Assuntos:
Robotics and AI
Acesso em linha:https://ncbi.nlm.nih.gov/pmc/articles/PMC7805691/
https://ncbi.nlm.nih.gov/pubmed/33501240
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/frobt.2020.00073
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