Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects

Abstract : In this paper we propose a method to estimate the force applied to a manipulated deformable object by processing information provided by an external vision sensor, in this case a consumer RGB-D camera. By measuring the deformations undergone by the object through a registration technique, the idea is to retrieve the contact force which minimises the deviation between the measured and the simulated deformations, given a simple interaction model and by employing a fitting process. The system resorts to a realistic mesh-based Finite Element Method model to accurately model deformations, whose elastic parameters are estimated in advance using the vision system and a force sensor. Experimental results are presented for the case of a compressive point-wise contact force applied, at static equilibrium, on a deformable object.
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Submitted on : Monday, October 16, 2017 - 2:08:33 PM
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Antoine Petit, Fanny Ficuciello, Giuseppe Andrea Fontanelli, Luigi Villani, Bruno Siciliano. Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects. ICINCO 2017 - 14th International Conference on Informatics in Control, Automation and Robotics, IEEE, Jul 2017, Madrid, Spain. pp.24-33, ⟨10.5220/0006415900240033⟩. ⟨hal-01617243⟩

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