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Conference Paper: Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary

TitleManipulating Highly Deformable Materials Using a Visual Feedback Dictionary
Authors
Issue Date2018
Citation
2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 21-25 May 2018. In Conference Proceedings, 2018, p. 239-246 How to Cite?
AbstractThe complex physical properties of highly deformable materials such as clothes pose significant challenges for autonomous robotic manipulation systems. We present a novel visual feedback dictionary-based method for manipulating deformable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor stream in the form of a histogram of deformable model features. These histogram features serve as high-level representations of the state of the deformable material. Next, we collect manipulation data and use a visual feedback dictionary that maps the velocity in the high-dimensional feature space to the velocity of the robotic end-effectors for manipulation. We have evaluated our approach on a set of complex manipulation tasks and human-robot manipulation tasks on different cloth pieces with varying material characteristics.
Persistent Identifierhttp://hdl.handle.net/10722/308776
ISSN
2023 SCImago Journal Rankings: 1.620
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorJia, Biao-
dc.contributor.authorHu, Zhe-
dc.contributor.authorPan, Jia-
dc.contributor.authorManocha, Dinesh-
dc.date.accessioned2021-12-08T07:50:06Z-
dc.date.available2021-12-08T07:50:06Z-
dc.date.issued2018-
dc.identifier.citation2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 21-25 May 2018. In Conference Proceedings, 2018, p. 239-246-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/308776-
dc.description.abstractThe complex physical properties of highly deformable materials such as clothes pose significant challenges for autonomous robotic manipulation systems. We present a novel visual feedback dictionary-based method for manipulating deformable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor stream in the form of a histogram of deformable model features. These histogram features serve as high-level representations of the state of the deformable material. Next, we collect manipulation data and use a visual feedback dictionary that maps the velocity in the high-dimensional feature space to the velocity of the robotic end-effectors for manipulation. We have evaluated our approach on a set of complex manipulation tasks and human-robot manipulation tasks on different cloth pieces with varying material characteristics.-
dc.languageeng-
dc.relation.ispartof2018 IEEE International Conference on Robotics and Automation (ICRA)-
dc.titleManipulating Highly Deformable Materials Using a Visual Feedback Dictionary-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICRA.2018.8461264-
dc.identifier.scopuseid_2-s2.0-85058812488-
dc.identifier.spage239-
dc.identifier.epage246-
dc.identifier.isiWOS:000446394500025-

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