• English
    • français
  • Help
  •  | 
  • Contact
  •  | 
  • About
  •  | 
  • Login
  • HAL portal
  •  | 
  • Pages Pro
  • EN
  •  / 
  • FR
View Item 
  •   LillOA Home
  • Liste des unités
  • Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
  • View Item
  •   LillOA Home
  • Liste des unités
  • Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Calibration and External Force Sensing for ...
  • BibTeX
  • CSV
  • Excel
  • RIS

Document type :
Article dans une revue scientifique
DOI :
10.1109/LRA.2019.2903356
Title :
Calibration and External Force Sensing for Soft Robots using an RGB-D Camera
Author(s) :
Zhang, Zhongkai [Auteur]
Deformable Robots Simulation Team [DEFROST ]
University of Lille
Petit, Antoine [Auteur]
Computational Anatomy and Simulation for Medicine [MIMESIS]
Dequidt, Jeremie [Auteur] refId
Deformable Robots Simulation Team [DEFROST ]
University of Lille
Duriez, Christian [Auteur] refId
Deformable Robots Simulation Team [DEFROST ]
University of Lille
Journal title :
IEEE Robotics and automation letters
Pages :
2356 - 2363
Publisher :
IEEE
Publication date :
2019-03-06
ISSN :
2377-3766
English keyword(s) :
Finite Element Method
Point cloud matching
Calibration
Force sensing
Soft robot
RGB-D camera
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Traitement des images [eess.IV]
English abstract : [en]
Benefiting from the deformability of soft robots, calibration and force sensing for soft robots are possible using an external vision-based system, instead of embedded mechatronic force sensors. In this paper, we first ...
Show more >
Benefiting from the deformability of soft robots, calibration and force sensing for soft robots are possible using an external vision-based system, instead of embedded mechatronic force sensors. In this paper, we first propose a calibration method to calibrate both the sensor-robot coordinate system and the actuator inputs. This task is addressed through a sequential optimization problem for both variables. We also introduce an external force sensing system based on a real-time Finite Element (FE) model with the assumption of static configurations, and which consists of two steps: force location detection and force intensity computation. The algorithm that estimates force location relies on the segmentation of the point cloud acquired by an RGB-D camera. Then, the force intensities can be computed by solving an inverse quasi-static problem based on matching the FE model with the point cloud of the soft robot. As for validation, the proposed strategies for calibration and force sensing have been tested using a parallel soft robot driven by four cables.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Collections :
  • Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Source :
Harvested from HAL
Files
Thumbnail
  • https://hal.archives-ouvertes.fr/hal-02060976/document
  • Open access
  • Access the document
Thumbnail
  • https://hal.archives-ouvertes.fr/hal-02060976/document
  • Open access
  • Access the document
Thumbnail
  • https://hal.archives-ouvertes.fr/hal-02060976/document
  • Open access
  • Access the document
Université de Lille

Mentions légales
Université de Lille © 2017