FEM-based Deformation Control for Dexterous Manipulation of 3D Soft Objects

Abstract : In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling. The goal is to generate proper forces on the fingertips of an anthropomor-phic device during in-hand manipulation to produce desired displacements of selected control points on the object. The desired motions of the fingers are computed in real-time as an inverse solution of a Finite Element Method (FEM), the forces applied by the fingertips at the contact points being modelled by Lagrange multipliers. The elasticity parameters of the model are preliminarly estimated using a vision system and a force sensor. Experimental results are shown with an underactuated anthropomorphic hand that performs a manipulation task on a soft cylindrical object.
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https://hal.inria.fr/hal-01889783
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Submitted on : Monday, October 8, 2018 - 2:09:12 AM
Last modification on : Wednesday, April 3, 2019 - 1:23:14 AM
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  • HAL Id : hal-01889783, version 1

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Fanny Ficuciello, Alessandro Migliozzi, Eulalie Coevoet, Antoine Petit, Christian Duriez. FEM-based Deformation Control for Dexterous Manipulation of 3D Soft Objects. IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨hal-01889783⟩

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