TY - JOUR
T1 - Vision-based manipulation of deformable and rigid objects using subspace projections of 2D contours
AU - Zhu, Jihong
AU - Navarro-Alarcon, David
AU - Passama, Robin
AU - Cherubini, Andrea
PY - 2021
Y1 - 2021
N2 - This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of explicitly defining the features by geometries or functions, the robot automatically learns the visual features from processed vision data. Our method simultaneously generates – from the same data – both visual features and the interaction matrix that relates them to the robot control inputs. Extraction of the feature vector and control commands is done online and adaptively, and requires little data for initialization. Our method allows the robot to manipulate an object without knowing whether it is rigid or deformable. To validate our approach, we conduct numerical simulations and experiments with both deformable and rigid objects.
AB - This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of explicitly defining the features by geometries or functions, the robot automatically learns the visual features from processed vision data. Our method simultaneously generates – from the same data – both visual features and the interaction matrix that relates them to the robot control inputs. Extraction of the feature vector and control commands is done online and adaptively, and requires little data for initialization. Our method allows the robot to manipulate an object without knowing whether it is rigid or deformable. To validate our approach, we conduct numerical simulations and experiments with both deformable and rigid objects.
KW - Deformable object manipulation
KW - Sensor-based control
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=85105839683&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2021.103798
DO - 10.1016/j.robot.2021.103798
M3 - Article
AN - SCOPUS:85105839683
SN - 0921-8890
VL - 142
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
M1 - 103798
ER -