Dual-arm robotic manipulation of flexible cables

被引：0
|
作者：
Zhu, Jihong [1 ]
Navarro, Benjamin [1 ]
Fraisse, Philippe [1 ]
Crosnier, Andre [1 ]
Cherubini, Andrea [1 ]
机构：
[1] Univ Montpellier, CNRS, LIRMM, Montpellier, France
来源：
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2018年
基金：
欧盟地平线“2020”;
关键词：
OBJECTS;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Deforming a cable to a desired (reachable) shape is a trivial task for a human to do without even knowing the internal dynamics of the cable. This paper proposes a framework for cable shapes manipulation with multiple robot manipulators. The shape is parameterized by a Fourier series. A local deformation model of the cable is estimated on-line with the shape parameters. Using the deformation model, a velocity control law is applied on the robot to deform the cable into the desired shape. Experiments on a dual-arm manipulator are conducted to validate the framework.
引用
收藏
页码：479 / 484
页数：6
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