论文标题
具有视觉曲率反馈的线性灵活对象的基于模型的操纵
Model-Based Manipulation of Linear Flexible Objects with Visual Curvature Feedback
论文作者
论文摘要
操纵可变形物体是使机器人无处不在的制造，服务，医疗保健和安全性的理想技能。可变形的物体在我们的日常生活中很常见，例如电线，衣服，床单等，并且比刚性物体更难建模。在这项研究中，我们研究了基于视觉的线性柔性对象（例如电缆）的操纵。我们提出了一种基于视觉反馈的几何建模方法，以开发出受重力的线性柔性对象的一般表示。该模型通过在两个投影平面上组合曲率来表征对象的形状。在这种方法中，我们实现了类似电缆的对象的位置和方向（姿势）的跟踪，其尖端的姿势以及对象上所选的抓取点的姿势，从而实现对象的闭环操纵。我们通过完成2015年DARPA机器人挑战决赛中使用的插头任务来证明我们的方法的可行性，该任务涉及从一个插座上拔下电源线并将其插入另一个插座。实验表明，我们可以在30秒内成功完成任务。
Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are significantly more difficult to model than rigid objects. In this study, we investigate vision-based manipulation of linear flexible objects such as cables. We propose a geometric modeling method that is based on visual feedback to develop a general representation of the linear flexible object that is subject to gravity. The model characterizes the shape of the object by combining the curvatures on two projection planes. In this approach, we achieve tracking of the position and orientation (pose) of a cable-like object, the pose of its tip, and the pose of the selected grasp point on the object, which enables closed-loop manipulation of the object. We demonstrate the feasibility of our approach by completing the Plug Task used in the 2015 DARPA Robotics Challenge Finals, which involves unplugging a power cable from one socket and plugging it into another. Experiments show that we can successfully complete the task autonomously within 30 seconds.
