Depending on the amount of data to process, file generation may take longer.

If it takes too long to generate, you can limit the data by, for example, reducing the range of years.

Article

Download file Download BibTeX

Title

Calibrationless Bimanual Deformable Linear Object Manipulation with Recursive Least Squares Filter

Authors

[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technologies

Year of publication

2024

Published in

IEEE Access

Journal year: 2024 | Journal volume: vol. 12

Article type

scientific article

Publication language

english

Keywords
EN
  • adaptation models
  • bimanual manipulation
  • Deformable Linear Objects
  • Jacobian matrices
  • manipulators
  • robotic manipulation
  • robots
  • shape
  • shape control
  • task analysis
  • wires
Abstract

EN In recent years, the domain of robotic manipulation has broadened its focus from rigid objects to more complex tasks involving deformable objects. Compared to rigid bodies, the model-based manipulation of deformable objects requires online adaptation of the model, as it may change during manipulation. This challenge is also evident in the case of Deformable Linear Objects (DLOs), such as wires, hoses, or pipes. In this paper, we introduce a novel model-based method for manipulating DLO that eliminates the need for calibration between the robots and the RGBD camera. We achieve this by utilizing a local linear DLO model, represented by a Jacobian, which maps the movement of the robot’s grippers to the observed DLO displacement. We propose updating this model online using a Recursive Least Squares (RLS) adaptive filter and three distinct Jacobian update strategies. We assess the efficiency of the proposed approaches in nine different real-world manipulation scenarios using three types of wires. The experiments conducted demonstrate that all the proposed strategies provide accurate DLO shape control. However, the update strategy that employs a single action per step, combined with an intermediate DLO state prediction, emerges as the most efficient.

Pages (from - to)

126707 - 126716

DOI

10.1109/ACCESS.2024.3438624

URL

https://ieeexplore.ieee.org/document/10623154

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Full text of article

Download file

Access level to full text

public

Ministry points / journal

100

Impact Factor

3,4 [List 2023]

This website uses cookies to remember the authenticated session of the user. For more information, read about Cookies and Privacy Policy.