Active Manipulation of Elastic Rods using Optimization-based Shape Perception and Sensorimotor Model Approximation

Deformable object manipulation (DOM) remains challenging in robotics since the physical characteristics of deformable linear objects (DLO) are generally strongly nonlinear and unknown. This paper presents an active deformation frame-work for robot manipulating the elastic rod. The optimization-based...

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Veröffentlicht in:	Chinese Control Conference S. 3780 - 3785
Hauptverfasser:	Ma, Guangfu, Qi, Jiaming, Lv, Yueyong, Zeng, Haibin
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	Technical Committee on Control Theory, Chinese Association of Automation 25.07.2022
Schlagworte:	Adaptation models Adaptive Kalman Filter Deformable Objects Feature extraction Kalman filters Robot motion Robot sensing systems Robotics Sensor-based Control Shape Shape-servoing Stability criteria
ISSN:	1934-1768
Online-Zugang:	Volltext
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