Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment

Jing Huang; Yuanpei Cai; Xiangyu Chu; Russell H. Taylor; K. W. Samuel Au

doi:10.1109/LRA.2021.3062302

Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment

Jing Huang, Yuanpei Cai, Xiangyu Chu, Russell H. Taylor, K. W. Samuel Au

Research output: Contribution to journal › Article › peer-review

Abstract

The assumption of fixed contact between robots and deformable objects (DOs) is widely used by previous DO manipulation (DOM) studies. However, the fixed contact setting is inapplicable to many real-life applications due to various factors, such as the end-effector's type and the DO's intrinsic material properties. In such cases, the non-fixed contact (NFC) configuration, which has not been well-investigated, usually demonstrates better applicability in terms of contact flexibility and payload capacity. In this letter, we investigate the problem of DOM with NFC, particularly the contact condition characterization and active contact adjustment strategy. To this end, we propose a versatile index and an optimization-based method for the contact description and adjustment. Then a systematic control framework combining both deformation control and active contact adjustment control is proposed for task-level DOM control. The feasibility and effectiveness of the proposed method were verified via the presented experiments.

Original language	English (US)
Article number	9363522
Pages (from-to)	2878-2885
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	6
Issue number	2
DOIs	https://doi.org/10.1109/LRA.2021.3062302
State	Published - Apr 2021
Externally published	Yes

Keywords

Contact modeling
dexterous manipulation
visual servoing

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2021.3062302

Cite this

@article{106f26fd272e4ccd87d5b48fd198e757,

title = "Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment",

abstract = "The assumption of fixed contact between robots and deformable objects (DOs) is widely used by previous DO manipulation (DOM) studies. However, the fixed contact setting is inapplicable to many real-life applications due to various factors, such as the end-effector's type and the DO's intrinsic material properties. In such cases, the non-fixed contact (NFC) configuration, which has not been well-investigated, usually demonstrates better applicability in terms of contact flexibility and payload capacity. In this letter, we investigate the problem of DOM with NFC, particularly the contact condition characterization and active contact adjustment strategy. To this end, we propose a versatile index and an optimization-based method for the contact description and adjustment. Then a systematic control framework combining both deformation control and active contact adjustment control is proposed for task-level DOM control. The feasibility and effectiveness of the proposed method were verified via the presented experiments. ",

keywords = "Contact modeling, dexterous manipulation, visual servoing",

author = "Jing Huang and Yuanpei Cai and Xiangyu Chu and Taylor, {Russell H.} and {Samuel Au}, {K. W.}",

note = "Funding Information: Manuscript received October 8, 2020; accepted January 31, 2021. Date of publication February 25, 2021; date of current version March 17, 2021. This letter was recommended for publication by Associate Editor A. Morales and Editor H. Liu upon evaluation of the reviewers{\textquoteright} comments. This work was supported in part by the CUHK Chow Yuk Ho Technology Centre of Innovative Medicine, Multi-Scale Medical Robotics Centre, InnoHK under Grant 8312051, Grant RGC T42-409/18-R, and Grant ITC (ITS/087/18FP), and in part by the Natural Science Foundation of China under Grant U1613202. (Corresponding author: K. W. Samuel Au.) Jing Huang, Yuanpei Cai, Xiangyu Chu, and K. W. Samuel Au are with the Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Hong Kong, China (e-mail: huangjing@ mae.cuhk.edu.hk; ypcai@mae.cuhk.edu.hk; xychu@mae.cuhk.edu.hk; samue-lau@mae.cuhk.edu.hk). Publisher Copyright: {\textcopyright} 2016 IEEE.",

year = "2021",

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AU - Huang, Jing

AU - Cai, Yuanpei

AU - Chu, Xiangyu

AU - Taylor, Russell H.

AU - Samuel Au, K. W.

N1 - Funding Information: Manuscript received October 8, 2020; accepted January 31, 2021. Date of publication February 25, 2021; date of current version March 17, 2021. This letter was recommended for publication by Associate Editor A. Morales and Editor H. Liu upon evaluation of the reviewers’ comments. This work was supported in part by the CUHK Chow Yuk Ho Technology Centre of Innovative Medicine, Multi-Scale Medical Robotics Centre, InnoHK under Grant 8312051, Grant RGC T42-409/18-R, and Grant ITC (ITS/087/18FP), and in part by the Natural Science Foundation of China under Grant U1613202. (Corresponding author: K. W. Samuel Au.) Jing Huang, Yuanpei Cai, Xiangyu Chu, and K. W. Samuel Au are with the Department of Mechanical and Automation Engineering, the Chinese University of Hong Kong, Hong Kong, China (e-mail: huangjing@ mae.cuhk.edu.hk; ypcai@mae.cuhk.edu.hk; xychu@mae.cuhk.edu.hk; samue-lau@mae.cuhk.edu.hk). Publisher Copyright: © 2016 IEEE.

PY - 2021/4

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N2 - The assumption of fixed contact between robots and deformable objects (DOs) is widely used by previous DO manipulation (DOM) studies. However, the fixed contact setting is inapplicable to many real-life applications due to various factors, such as the end-effector's type and the DO's intrinsic material properties. In such cases, the non-fixed contact (NFC) configuration, which has not been well-investigated, usually demonstrates better applicability in terms of contact flexibility and payload capacity. In this letter, we investigate the problem of DOM with NFC, particularly the contact condition characterization and active contact adjustment strategy. To this end, we propose a versatile index and an optimization-based method for the contact description and adjustment. Then a systematic control framework combining both deformation control and active contact adjustment control is proposed for task-level DOM control. The feasibility and effectiveness of the proposed method were verified via the presented experiments.

AB - The assumption of fixed contact between robots and deformable objects (DOs) is widely used by previous DO manipulation (DOM) studies. However, the fixed contact setting is inapplicable to many real-life applications due to various factors, such as the end-effector's type and the DO's intrinsic material properties. In such cases, the non-fixed contact (NFC) configuration, which has not been well-investigated, usually demonstrates better applicability in terms of contact flexibility and payload capacity. In this letter, we investigate the problem of DOM with NFC, particularly the contact condition characterization and active contact adjustment strategy. To this end, we propose a versatile index and an optimization-based method for the contact description and adjustment. Then a systematic control framework combining both deformation control and active contact adjustment control is proposed for task-level DOM control. The feasibility and effectiveness of the proposed method were verified via the presented experiments.

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Non-Fixed Contact Manipulation Control Framework for Deformable Objects with Active Contact Adjustment

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Keywords

ASJC Scopus subject areas

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