視覚フィードバック辞書による高変形材料の操作
Manipulating Highly Deformable Materials Using a Visual Feedback Dictionary
布などの高変形材料を目標形状に操作するため、RGB画像から変形モデル特徴のヒストグラムを抽出し、特徴空間の速度とロボット手先速度を対応付ける視覚フィードバック辞書を構築した研究。
著者: Biao Jia, Zhe Hu, Jia Pan, Dinesh Manocha
分類: cs.RO
原文アブストラクト
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable objects towards a desired configuration. Our approach is based on visual servoing and we use an efficient technique to extract key features from the RGB sensor stream in the form of a histogram of deformable model features. These histogram features serve as high-level representations of the state of the deformable material. Next, we collect manipulation data and use a visual feedback dictionary that maps the velocity in the high-dimensional feature space to the velocity of the robotic end-effectors for manipulation. We have evaluated our approach on a set of complex manipulation tasks and human-robot manipulation tasks on different cloth pieces with varying material characteristics.
