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- Arslan Waltersson, Gabriel, 1996, et al.
(author)
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Planning and Control for Cable-routing with Dual-arm Robot
- 2022
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In: Proceedings - IEEE International Conference on Robotics and Automation. - 1050-4729. ; 2022-May, s. 1046-1052
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Conference paper (peer-reviewed)abstract
- In this paper, we propose a new framework for solving cable-routing problems with a dual-arm robot, where the objective is to clip a Deformable Linear Object (DLO) into several arbitrarily placed fixtures. The core of the framework is a task-space planner, which builds a roadmap from predefined tasks and employs a replanning strategy based on a genetic algorithm, if problems occur. The manipulation tasks are executed with either individual or coordinated control of the arms. Moreover, hierarchical quadratic programming is used to solve the inverse differential kinematics together with extra feasibility objectives. A vision system first identifies the desired fixture route and structure preserved registration estimates the state of the DLO in real-time. The framework is tested on real-world experiments with a YuMi robot, demonstrating a 90% success rate for 3 fixture problems.
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| 2. |
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| 3. |
- Süberkrüb, Finn, et al.
(author)
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Feel the Tension: Manipulation of Deformable Linear Objects in Environments with Fixtures using Force Information
- 2022
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In: IEEE International Conference on Intelligent Robots and Systems. - 2153-0858 .- 2153-0866. - 9781665479271 ; 2022-October, s. 11216-11222
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Conference paper (peer-reviewed)abstract
- 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.
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