Robust Manipulation of Deformable Objects Using Model Based Technique

  • T. Wada
  • S. Hirai
  • H. Mori
  • S. Kawamura
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1899)

Abstract

Manipulation of deformable objects will be discussed. Manipulation of deformable objects is defined as controlling deformation of objects as well as their positions and orientations. The manipulation is a fundamental and important task in many industrial fields. In fact, there exist many operations of deformable objects such as textile fabrics, rubber parts, paper sheets, strings, and foods. In order to realize the manipulation of deformable objects by mechanical systems, an object model is indispensable. It is, however, difficult to build exact model of the deformable objects due to their strong nonlinearity such as friction, hysteresis and parameter variations. Thus, such operations strongly depend on skilled human workers. To overcome this problem, we will propose a robust control strategy using a model based technique. We will build a coarse model of an object for the manipulation and will develop a control method robust to the discrepancy between the object and its model. Experimental results will show the robustness of the proposed method.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Wada, T., Hirai, S., Hirano, T., Kawamura, S.: Modeling of Plain Knitted Fabrics for Their Deformation Control. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1960–1965 (1997)Google Scholar
  2. 2.
    Wada, T., Hirai, S., Kawamura, S.: Planning and Control of Indirect Simultaneous Positioning Operation for Deformable Objects. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2572–2577 (1999)Google Scholar
  3. 3.
    Taylor, P.M., et al. (eds.): Sensory Robotics for the Handling of Limp Materials. Springer, Heidelberg (1990)MATHGoogle Scholar
  4. 4.
    Ono, E., Kita, N., Sakane, S.: Strategy for Unfolding a Fabric Piece by Coorperative Sensing of Touch and Vision. In: Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 441–445 (1995)Google Scholar
  5. 5.
    Hirai, S., Wakamatsu, H., Iwata, K.: Modeling of Deformable Thin Parts for Their Manipulation. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2955–2960 (1994)Google Scholar
  6. 6.
    Wakamtatsu, H., Hirai, S., Iwata, K.: Static Analysis of Deformable Object Grasping Based on Bounded Force Closure. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3324–3329 (1996)Google Scholar
  7. 7.
    Howard, A.M., Bekey, G.A.: Recursive Learning for Deformable Object Manipulation. In: Proc. of Int. Conf. on Advanced Robotics, pp. 939–944 (1997)Google Scholar
  8. 8.
    Sun, D., Liu, Y., Mills, J.K.: Cooperative Control of a Two-Manipulator System Handling a General Flexible Object. In: Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 5–10 (1997)Google Scholar
  9. 9.
    Terzopoulos, D., Platt, J., Barr, A., Fleischer, K.: Elastically Deformable Models. In: Proc. of Siggraph 87, Computer Graphics, vol. 21(4), pp. 205–214 (1987)Google Scholar
  10. 10.
    Louchet, J., Provot, X., Crochemore, D.: Evoluntionary Identification of Cloth Animation Models. In: Computer Animation and Simulation 1995: Proc. of the Eurograpics Workshopin Maastricht, pp. 44–54 (1995)Google Scholar
  11. 11.
    Nastar, C., Ayache, N.: Frequency-Based Nonrigid Motion Analysis: Application to Four Dimensional Medical Images. IEEE Trans. on Pattern Analysis and Machine Intelligence 18(11), 1067–1079 (1996)CrossRefGoogle Scholar
  12. 12.
    Wada, T., Hirai, S., Kawamura, S.: Indirect Simultaneous Positioning Operations of Extensionally Deformable Objects. In: Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 1333–1338 (1998)Google Scholar
  13. 13.
    Wada, T., Hirai, S., Kawamura, S.: Analysis and Planning of Indirect Simultaneous Positioning Operation for Deformable Objects. In: Proc. of Int. Conf. on Advanced Robotics, pp. 141–146 (1999)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • T. Wada
    • 1
  • S. Hirai
    • 2
  • H. Mori
    • 2
  • S. Kawamura
    • 2
  1. 1.Faculty of EngineeringKagawa UniversityKagawaJapan
  2. 2.Department of RoboticsRitsumeikan UniversityShigaJapan

Personalised recommendations