In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling. The goal is to generate proper forces on the fingertips of an anthropomorphic device during in-hand manipulation to produce desired displacements of selected control points on the object. The desired motions of the fingers are computed in real-time as an inverse solution of a Finite Element Method (FEM), the forces applied by the fingertips at the contact points being modelled by Lagrange multipliers. The elasticity parameters of the model are preliminarly estimated using a vision system and a force sensor. Experimental results are shown with an underactuated anthropomorphic hand that performs a manipulation task on a soft cylindrical object.
FEM-Based Deformation Control for Dexterous Manipulation of 3D Soft Objects / Ficuciello, F.; Migliozzi, A.; Coevoet, E.; Petit, A.; Duriez, C.. - (2018), pp. 4007-4013. ( 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 Madrid Municipal Conference Centre, esp 2018) [10.1109/IROS.2018.8593512].
FEM-Based Deformation Control for Dexterous Manipulation of 3D Soft Objects
Ficuciello F.;
2018
Abstract
In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling. The goal is to generate proper forces on the fingertips of an anthropomorphic device during in-hand manipulation to produce desired displacements of selected control points on the object. The desired motions of the fingers are computed in real-time as an inverse solution of a Finite Element Method (FEM), the forces applied by the fingertips at the contact points being modelled by Lagrange multipliers. The elasticity parameters of the model are preliminarly estimated using a vision system and a force sensor. Experimental results are shown with an underactuated anthropomorphic hand that performs a manipulation task on a soft cylindrical object.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
