Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/106463
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Mechanical Engineering | - |
dc.creator | Wang, Z | en_US |
dc.creator | Li, X | en_US |
dc.creator | Navarro-Alarcon, D | en_US |
dc.creator | Liu, YH | en_US |
dc.date.accessioned | 2024-05-09T00:53:41Z | - |
dc.date.available | 2024-05-09T00:53:41Z | - |
dc.identifier.isbn | 978-1-5386-8095-7 (Print on Demand(PoD)) | en_US |
dc.identifier.isbn | 978-1-5386-8094-0 (Electronic) | en_US |
dc.identifier.isbn | 978-1-5386-8093-3 (USB) | en_US |
dc.identifier.uri | http://hdl.handle.net/10397/106463 | - |
dc.language.iso | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.rights | ©2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.rights | The following publication Z. Wang, X. Li, D. Navarro-Alarcon and Y. -h. Liu, "A Unified Controller for Region-reaching and Deforming of Soft Objects," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 472-478 is available at https://doi.org/10.1109/IROS.2018.8593543. | en_US |
dc.title | A unified controller for region-reaching and deforming of soft objects | en_US |
dc.type | Conference Paper | en_US |
dc.identifier.spage | 472 | en_US |
dc.identifier.epage | 478 | en_US |
dc.identifier.doi | 10.1109/IROS.2018.8593543 | en_US |
dcterms.abstract | Emerging applications of robotic manipulation of deformable objects have opened up new challenges in robot control. While several control techniques have been developed to manipulate deformable objects, the performance of existing methods is commonly limited by two issues: 1) implicit assumption that the physical contact between the end-effector and the object is always maintained, and 2) requirements of exact parameters of deformation model, which are difficult to obtain. This paper presents a new control scheme for robotic manipulation of deformable objects, which allows the robot to automatically contact then actively deform the deformable object by assessing the status of deformation in real time. Instead of designing multiple controllers and switching among them, the proposed method smoothly and stably integrates two control phases (i.e. region reaching and active deforming) into a single controller. The stability of the closed-loop system is rigorously proved with the consideration of the uncertain deformation model and uncalibrated cameras. Hence, the proposed control scheme enhances the autonomous capability of active deformable object manipulation. Experimental studies are conducted with different initial conditions to demonstrate the performance of the proposed controller. | - |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | IROS Madrid 2018 : 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : towards a robotic society : digest : October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre, p. 472-478 | en_US |
dcterms.issued | 2018 | - |
dc.identifier.scopus | 2-s2.0-85059526853 | - |
dc.relation.conference | Intelligent Robots and Systems [IROS] | - |
dc.description.validate | 202405 bcch | - |
dc.description.oa | Accepted Manuscript | en_US |
dc.identifier.FolderNumber | ME-0555 | - |
dc.description.fundingSource | RGC | en_US |
dc.description.fundingSource | Others | en_US |
dc.description.fundingText | HK ITF; VC’s Discretionary Fund; CUHK SHIAE | en_US |
dc.description.pubStatus | Published | en_US |
dc.identifier.OPUS | 21539361 | - |
dc.description.oaCategory | Green (AAM) | en_US |
Appears in Collections: | Journal/Magazine Article |
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File | Description | Size | Format | |
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NavarroAlarcon_Unified_Controller_Region-Reaching.pdf | Pre-Published version | 8.48 MB | Adobe PDF | View/Open |
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