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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Communication dans un congrès
ScitePress; Springer. ICINCO 2017 - 14th International Conference on Informatics in Control, Automation and Robotics, Jul 2017, Madrid, Spain. ScitePress; Springer, 2 (978-989-758-263-9), pp.24-33, 2017, Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. 〈http://www.icinco.org〉. 〈10.5220/0006415900240033〉
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Soumis le : lundi 16 octobre 2017 - 14:08:33
Dernière modification le : vendredi 20 octobre 2017 - 08:16:05

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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. ScitePress; Springer. ICINCO 2017 - 14th International Conference on Informatics in Control, Automation and Robotics, Jul 2017, Madrid, Spain. ScitePress; Springer, 2 (978-989-758-263-9), pp.24-33, 2017, Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics. 〈http://www.icinco.org〉. 〈10.5220/0006415900240033〉. 〈hal-01617243〉

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