Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts

This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO's movement through contacts and fixtures. We propose a strategy to estimate the pose of u...

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Bibliographic Details
Published in2024 IEEE International Conference on Robotics and Automation (ICRA) pp. 16139 - 16145
Main Authors Monguzzi, Andrea, Karayiannidis, Yiannis, Rocco, Paolo, Zanchettin, Andrea Maria
Format Conference Proceeding
LanguageEnglish
Published IEEE 13.05.2024
Subjects
Estimation
Fixtures
Redundancy
Robot sensing systems
Semantics
Sequential analysis
Wrist
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DOI10.1109/ICRA57147.2024.10610686

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Summary:This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO's movement through contacts and fixtures. We propose a strategy to estimate the pose of unknown environmental contacts encountered during the manipulation of a DLO, classifying the induced constraints as unilateral, bilateral and fully constrained, exploiting the redundancy of force sensors. A semantic approach to define environmental constraints is introduced and incorporated into a graph-based model of the DLO. This model remains accurate as long as the DLO is under tension and is dynamically updated throughout the manipulation process, built by sequencing a set of primitives. The estimation strategy is validated through simulations and real-world experiments, demonstrating its potential in handling DLOs under various, possibly uncertain, constraints.
DOI:10.1109/ICRA57147.2024.10610686