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Robotic Deformable Object Cutting: From Simulation to Experimental Validation*

Abstract : In this paper, investigations into the robotic cutting of soft deformable materials are discussed. A force vision cooperative controller is proposed to deal with the object flexibility and uncertain modeling parameters. The control scheme is firstly tested within a simulator environment and then validated on an experimental cell. The construction of the simulator is described and the interaction with the deformable object discussed. Finally the results of the controller in simulation and experimentation are shown and the differences are discussed.
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https://hal.inria.fr/hal-02461913
Contributor : Philippe Martinet <>
Submitted on : Friday, January 31, 2020 - 7:33:48 AM
Last modification on : Wednesday, September 9, 2020 - 10:50:20 AM
Long-term archiving on: : Friday, May 1, 2020 - 12:34:33 PM

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  • HAL Id : hal-02461913, version 1

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Philip Long, Wisama Khalil, Philippe Martinet. Robotic Deformable Object Cutting: From Simulation to Experimental Validation*. European Workshop on Deformable Object Manipulation, Mar 2014, Lyon, France. ⟨hal-02461913⟩

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