☆ 4.6 Article

An approach based on machine vision for the identification and shape estimation of deformable linear objects

MECHATRONICS (2023)

Related references

Note: Only part of the references are listed.

Article Automation & Control Systems

New model-based manipulation technique for reshaping deformable linear objects

Alaa Khalifa et al.

Summary: This article introduces a new model-based manipulation technique for reshaping a deformable linear object (DLO) using a single-armed robot equipped with a gripper. The technique involves a decision process that selects optimal grasping and releasing points based on error minimization approach and spline interpolation. By utilizing a multivariate dynamic spline model, the optimal grasping point can be selected and the behavior of DLO can be predicted during manipulation. The symplectic integrator is utilized for solving the DLO dynamic model iteratively, and simulation results demonstrate the efficiency of the proposed technique in manipulating DLO into various shapes in few steps.

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY (2022)

Add to Collection

Article Robotics

Keypoint-Based Planar Bimanual Shaping of Deformable Linear Objects Under Environmental Constraints With Hierarchical Action Framework

Shengzeng Huo et al.

Summary: This letter presents a solution to the problem of contact-based manipulation of deformable linear objects (DLOs) using a dual-arm robotic system. By modeling DLOs as kinematic multibody systems and training a keypoint encoding network, the high-dimensional continuous state-action spaces are effectively reduced. The proposed goal-conditioned policy rearranges the configuration of DLOs based on keypoints, and the hierarchical action framework solves the manipulation problem in a coarse-to-fine manner. Experimental results demonstrate the high performance of the method in state representation and shaping manipulation of DLOs under environmental constraints.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

Add to Collection

Review Robotics

Modeling, learning, perception, and control methods for deformable object manipulation

Hang Yin et al.

Summary: The importance of perceiving and handling deformable objects in our daily life is highlighted in this paper, with a focus on automating tasks like food handling and garment sorting. Advances in data-driven approaches, combined with traditional control and planning methods, offer viable solutions to these challenges. A learning perspective is utilized to unify discussions on analytical and data-driven methods, addressing the integration of model priors and task data in manipulating deformable objects.

SCIENCE ROBOTICS (2021)

Add to Collection

Proceedings Paper Automation & Control Systems

Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification

Markus Wnuk et al.

Summary: This paper proposes a modified method, called CAMP, based on Structure Preserved Registration (SPR) for tracking branched deformable linear objects (DLOs) with multiple branches. The performance and robustness against occlusions of CAMP are evaluated and compared to SPR in practical experiments with wire harnesses.

2021 27TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) (2021)

Add to Collection

Proceedings Paper Automation & Control Systems

Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints

Yixuan Wang et al.

Summary: The study presents a method for tracking the shape of deformable objects based on image and geometric motion estimates, especially in scenarios with severe occlusion and obstacles. By utilizing a new motion model and formulating convex geometric constraints, the tracking estimate is effectively regularized to prevent self-intersection and penetration into obstacles.

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) (2021)

Add to Collection

Article Engineering, Electrical & Electronic

Proximity Sensor for Thin Wire Recognition and Manipulation

Andrea Cirillo et al.

Summary: This paper presents a time-of-flight pre-touch sensor integrated with a tactile sensor for accurate estimation of thin wire pose and shape. A specific object scanning and shape detection algorithm is proposed, with experimental results showing good performance. The hardware design and software applications are freely accessible to readers.

MACHINES (2021)

Add to Collection

Article Computer Science, Artificial Intelligence

Fast and accurate cable detection using CNN

Zhiyong Dai et al.

APPLIED INTELLIGENCE (2020)

Add to Collection

Proceedings Paper Automation & Control Systems

Kinematic Multibody Model Generation of Deformable Linear Objects from Point Clouds

Markus Wnuk et al.

2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2020)

Add to Collection

Article Robotics

Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey

Jose Sanchez et al.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2018)

Add to Collection

Article Robotics

A Framework for Manipulating Deformable Linear Objects by Coherent Point Drift

Te Tang et al.

IEEE ROBOTICS AND AUTOMATION LETTERS (2018)

Add to Collection

Proceedings Paper Computer Science, Artificial Intelligence

Mask R-CNN

Kaiming He et al.

2017 IEEE INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV) (2017)

Add to Collection

Article Engineering, Multidisciplinary

Underwater cable detection in the images using edge classification based on texture information

Mehdi Fatan et al.

MEASUREMENT (2016)

Add to Collection

Article Engineering, Mechanical

Automatic control of a ROV for inspection of underwater structures using a low-cost sensing

Vinicius Nizolli Kuhn et al.

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING (2015)

Add to Collection

Article Computer Science, Artificial Intelligence

A deformable object tracking algorithm based on the boundary element method that is robust to occlusions and spurious edges

Michael A. Greminger et al.

INTERNATIONAL JOURNAL OF COMPUTER VISION (2008)

Add to Collection

Article Automation & Control Systems

Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information

Takayuki Matsuno et al.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2006)

Add to Collection

Article Computer Science, Artificial Intelligence

Representation and detection of deformable shapes

PF Felzenszwalb

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE (2005)

Add to Collection

Article Computer Science, Interdisciplinary Applications

Ridge-based vessel segmentation in color images of the retina

J Staal et al.

IEEE TRANSACTIONS ON MEDICAL IMAGING (2004)

Add to Collection

Article Computer Science, Artificial Intelligence

Automatic visual recognition of deformable objects for grasping and manipulation

GL Foresti et al.

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS (2004)

Add to Collection

Article Computer Science, Artificial Intelligence

A vision system for an underwater cable tracker

A Ortiz et al.

MACHINE VISION AND APPLICATIONS (2002)

Add to Collection

© Peeref 2019-2024. All rights reserved.