Besselaar, Lars und Della Santina, Cosimo (2022) One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model. In: 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022. IEEE. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022-04-04 - 2022-04-08, Edinburgh, United Kingdom. doi: 10.1109/RoboSoft54090.2022.9762089. ISBN 978-1-6654-0828-8.
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Offizielle URL: https://ieeexplore.ieee.org/document/9762089
Kurzfassung
Many are the challenges that make robotic manipulation of deformable objects such a complex task. For example, to properly plan and execute a control action, a robot needs to understand how external forces will modify the deformation states of the object. Creating such an internal representation is even more complex in the typical situation where the robot is interacting for the first time with the object. In this paper, we look at this challenge when controlling the deformation states of a planar and slender object. Leveraging soft robots' modelling and control, we show that the only non-geometrical information needed to perform this task is the stiffness distribution. We thus propose a strategy to learn this function from a single interaction with the object, testing it experimentally. We then propose a closed-loop controller that exploits this learned information to perform the manipulation task and test it with simulations.
elib-URL des Eintrags: | https://elib.dlr.de/192900/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model | ||||||||||||
Autoren: |
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Datum: | 28 April 2022 | ||||||||||||
Erschienen in: | 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022 | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
DOI: | 10.1109/RoboSoft54090.2022.9762089 | ||||||||||||
Verlag: | IEEE | ||||||||||||
ISBN: | 978-1-6654-0828-8 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | deformation states, soft robots | ||||||||||||
Veranstaltungstitel: | 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft) | ||||||||||||
Veranstaltungsort: | Edinburgh, United Kingdom | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 4 April 2022 | ||||||||||||
Veranstaltungsende: | 8 April 2022 | ||||||||||||
Veranstalter : | IEEE | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Strobl, Dr. Klaus H. | ||||||||||||
Hinterlegt am: | 23 Dez 2022 11:24 | ||||||||||||
Letzte Änderung: | 28 Mai 2024 10:23 |
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