Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information
Paper i proceeding, 2022

Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind manipulation by keeping the object under tension. Further, an online model estimation procedure is also proposed. A set of elementary sliding and clipping manipulation primitives are defined based on our model. The combination of these primitives allows for more complex motions such as winding of a DLO. The model estimation and manipulation primitives are tested individually but also together in a real-world cable harness production task, using a dual-arm YuMi, thus demonstrating that force-based perception can be sufficient even for such a complex scenario.

Författare

Finn Süberkrüb

Rita Laezza

Chalmers, Elektroteknik, System- och reglerteknik

Yiannis Karayiannidis

Chalmers, Elektroteknik, System- och reglerteknik

IEEE International Conference on Intelligent Robots and Systems

21530858 (ISSN) 21530866 (eISSN)

Vol. 2022-October 11216-11222
978-166547927-1 (ISBN)

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Kyoto, Japan,

Ämneskategorier

Robotteknik och automation

DOI

10.1109/IROS47612.2022.9982065

ISBN

9781665479271

Mer information

Senast uppdaterat

2023-10-26