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Communication Dans Un Congrès Année : 2022

Indirect Positioning of a 3D Point on a Soft Object Using RGB-D Visual Servoing and a Mass-Spring Model

Résumé

In this paper, we present a complete pipeline for positioning a feature point of a soft object to a desired 3D position, by acting on a different manipulation point using a robotic manipulator. For that purpose, the analytic relation between the feature point displacement and the robot motion is derived using a coarse mass-spring model (MSM), while taking into consideration the propagation delay introduced by a MSM. From this modeling step, a novel closed-loop controller is designed for performing the positioning task. To get rid of the model approximations, the object is tracked in realtime using a RGB-D sensor, thus allowing to correct on-line any drift between the object and its model. Our model-based and vision-based controller is validated in real experiments for two different soft objects and the results show promising performance in terms of accuracy, efficiency and robustness.
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hal-03810911 , version 1 (11-10-2022)

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  • HAL Id : hal-03810911 , version 1

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Fouad Makiyeh, Maud Marchal, François Chaumette, Alexandre Krupa. Indirect Positioning of a 3D Point on a Soft Object Using RGB-D Visual Servoing and a Mass-Spring Model. ICARCV 2022 - 17th International Conference on Control, Automation, Robotics and Vision, Dec 2022, Singapore, Singapore. pp.1-8. ⟨hal-03810911⟩
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