By Topic

Realization of skill controllers for manipulation of deformable objects based on hybrid automata

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
K. Hirana ; Dept. of Electr. Eng., Nagoya Univ., Japan ; T. Suzuki ; S. Okuma ; K. Itabashi
more authors

The requirement of handling deformable objects such as leather, paper and rubber is growing. Since it is very difficult to make a physical model of them, the design of a controller to manipulate them becomes one of the significant problems in the field of robotics. If we look at the operation of a human worker, the deformable objects seem to be handled naturally and smoothly. The paper presents a method to design a controller for assembly tasks which involves the manipulation of deformable objects. The proposed method extracts the dynamics that human workers used in executing the demonstrated task, and embeds that in an event driven hybrid controller. In our control system, an event observer estimates the change of task state based on force and visual information like human workers, and switches the dynamics appropriately according to the task state. The proposed method is applied to a hose insertion task by implementing it in an industrial robot controller.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:3 )

Date of Conference: