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One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model

Besselaar, Lars and 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.

Full text not available from this repository.

Official URL: https://ieeexplore.ieee.org/document/9762089

Abstract

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.

Item URL in elib:https://elib.dlr.de/192900/
Document Type:Conference or Workshop Item (Speech)
Title:One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Besselaar, LarsCognitive Robotics Department, The NetherlandsUNSPECIFIEDUNSPECIFIED
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:28 April 2022
Journal or Publication Title:2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/RoboSoft54090.2022.9762089
Publisher:IEEE
ISBN:978-1-6654-0828-8
Status:Published
Keywords:deformation states, soft robots
Event Title:2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)
Event Location:Edinburgh, United Kingdom
Event Type:international Conference
Event Start Date:4 April 2022
Event End Date:8 April 2022
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:24
Last Modified:28 May 2024 10:23

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