Title :

FEM-based Deformation Control for Dexterous Manipulation of 3D Soft Objects

Author(s) :

Ficuciello, Fanny [Auteur]
Migliozzi, Alessandro [Auteur]
Coevoet, Eulalie [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Petit, Antoine [Auteur]
Computational Anatomy and Simulation for Medicine [MIMESIS]
Duriez, Christian [Auteur]
Deformable Robots Simulation Team [DEFROST ]

Conference title :

IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems

City :

Madrid

Country :

Espagne

Start date of the conference :

2018-10-01

HAL domain(s) :

Informatique [cs]/Vision par ordinateur et reconnaissance de formes [cs.CV]
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Robotique [cs.RO]

English abstract : [en]

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 ...
Show more >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 anthropomor-phic 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.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