Data Driven Robotic Manipulation Of Deformable Objects Using Tactile Feedback

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Data Driven Robotic Manipulation Of Deformable Objects Using Tactile Feedback
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Author : Yi Zheng
language : en
Publisher:
Release Date : 2023
Data Driven Robotic Manipulation Of Deformable Objects Using Tactile Feedback written by Yi Zheng and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023 with categories.
Perceiving and manipulating deformable objects with the sense of touch are essential skills in everyday life. However, it remains difficult for robots to autonomously manipulate deformable objects using tactile sensing because of numerous perception, modeling, planning, and control challenges. We believe this is partially due to two fundamental challenges: (1) Establishing a physics-based model describing physical interactions between deformable tactile sensors and deformable objects is difficult; (2) Modern tactile sensors provide high-dimensional data, which is beneficial for perception but impedes the development of practical planning and control strategies. To address these challenges, we developed systematic frameworks for the tactile-driven manipulation of deformable objects that integrates state-of-the-art tactile sensing with well-established tools used by other robotics communities. In Study \#1, we showed how a robot can learn to manipulate a deformable, thin-shell object via tactile sensor feedback using model-free reinforcement learning methods. A page flipping task was learned on a real robot using a two-stage approach. First, we learned nominal page flipping trajectories by constructing a reward function that quantifies functional task performance from the perspective of tactile sensing. Second, we learned adapted trajectories using tactile-driven perceptual coupling, with an intuitive assumption that, while the functional page flipping trajectories for different task contexts (page sizes) might differ, similar tactile sensing feedback should be expected. In Study \#2, we showed how a robot can use tactile sensor feedback to control the pose and tension of a deformable linear object (elastic cable). For a cable manipulation task, low-dimensional latent space features were extracted from high-dimensional raw tactile sensor data using unsupervised learning methods, and a dynamics model was constructed in the latent space using supervised learning methods. The dynamics model was integrated with an optimization-based, model predictive controller for end-to-end, tactile-driven motion planning and control on a real robot. In summary, we developed frameworks for the tactile-driven manipulation of deformable objects that either circumvents sensor modeling difficulties or constructs a dynamics model directly from tactile feedback and uses the model for planning and control. This work provides a foundation for the further development of systematic frameworks that can address complex, tactile-driven manipulation problems.
Tactile Robotics
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Author : Qiang Li
language : en
Publisher: Academic Press
Release Date : 2025-07-01
Tactile Robotics written by Qiang Li and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-07-01 with Computers categories.
Tactile Robotics structures and unifies the information processing of tactile data—not only for extracting object property but also for controller computation. This book systematically introduces tactile sensors, perception, and control, providing readers with no prior background with a better sense and knowledge of robotics and machine learning and helping users understand the concept of tactile robots and their various applications for use in real-world scenarios. - Covers basic concepts in robotics and machine learning - Includes essential knowledge for robotic manipulation tasks when tactile information is required - Employs numerous applications to illustrate how tactile robotics can be used in real robotic manipulation tasks - Defines how to structure the knowledge that can be extracted from raw tactile data
Towards Autonomous Robotic Systems
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Author : M. Nazmul Huda
language : en
Publisher: Springer Nature
Release Date : 2024-12-29
Towards Autonomous Robotic Systems written by M. Nazmul Huda and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-12-29 with Computers categories.
This two-volume set, LNAI 15051-15052, constitutes the refereed proceedings from the 25th Annual Conference Towards Autonomous Robotic Systems, TAROS 2024, held in London, UK, during August 21-23, 2024. The 54 full papers and 11 short papers presented in these volumes were carefully reviewed and selected from 69 submissions. The papers presented in these two volumes are organized in the following topical sections: - Part I: Robotic Learning, Mapping and Planning; Robotic Modeling, Sensing and Control; Machine Vision. Part II: Human-Robot Interaction/Collaboration; Locomotion and Manipulation; Mechanism Design; Soft Robotics; Swarms and Multi-Agent Systems.
Robot Manipulators
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Author : Agustin Jimenez
language : en
Publisher: BoD – Books on Demand
Release Date : 2010-03-01
Robot Manipulators written by Agustin Jimenez and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-01 with Technology & Engineering categories.
This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.
Experimental Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer Nature
Release Date : 2021-03-27
Experimental Robotics written by Bruno Siciliano and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-27 with Technology & Engineering categories.
This book is the volume of the proceedings for the 17th Edition of ISER. The goal of ISER (International Symposium on Experimental Robotics) symposia is to provide a single-track forum on the current developments and new directions of experimental robotics. The series has traditionally attracted a wide readership of researchers and practitioners interested to the advances and innovations of robotics technology. The 54 contributions cover a wide range of topics in robotics and are organized in 9 chapters: aerial robots, design and prototyping, field robotics, human‒robot interaction, machine learning, mapping and localization, multi-robots, perception, planning and control. Experimental validation of algorithms, concepts, or techniques is the common thread running through this large research collection. Chapter “A New Conversion Method to Evaluate the Hazard Potential of Collaborative Robots in Free Collisions” is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Robotic Tactile Perception And Understanding
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Author : Huaping Liu
language : en
Publisher: Springer
Release Date : 2018-03-20
Robotic Tactile Perception And Understanding written by Huaping Liu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-20 with Computers categories.
This book introduces the challenges of robotic tactile perception and task understanding, and describes an advanced approach based on machine learning and sparse coding techniques. Further, a set of structured sparse coding models is developed to address the issues of dynamic tactile sensing. The book then proves that the proposed framework is effective in solving the problems of multi-finger tactile object recognition, multi-label tactile adjective recognition and multi-category material analysis, which are all challenging practical problems in the fields of robotics and automation. The proposed sparse coding model can be used to tackle the challenging visual-tactile fusion recognition problem, and the book develops a series of efficient optimization algorithms to implement the model. It is suitable as a reference book for graduate students with a basic knowledge of machine learning as well as professional researchers interested in robotic tactile perception and understanding, and machine learning.
Innovative Approaches To Multidisciplinary Exploration
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Author : Dr. Uma Devi C.K.
language : en
Publisher: REDSHINE Publication
Release Date : 2025-05-21
Innovative Approaches To Multidisciplinary Exploration written by Dr. Uma Devi C.K. and has been published by REDSHINE Publication this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-05-21 with Education categories.
Edited by Dr. Uma Devi C.K., Prof Amos R, Dr. Gayathri J.U., Ms. S. Kirutheeba, Dr. Devansh Desai
Robot Manipulation Of Deformable Objects
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Author : Dominik Henrich
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Manipulation Of Deformable Objects written by Dominik Henrich and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation
Point Based Graphics
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Author : Markus Gross
language : en
Publisher: Elsevier
Release Date : 2011-05-04
Point Based Graphics written by Markus Gross and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-05-04 with Computers categories.
The polygon-mesh approach to 3D modeling was a huge advance, but today its limitations are clear. Longer render times for increasingly complex images effectively cap image complexity, or else stretch budgets and schedules to the breaking point. Comprised of contributions from leaders in the development and application of this technology, Point-Based Graphics examines it from all angles, beginning with the way in which the latest photographic and scanning devices have enabled modeling based on true geometry, rather than appearance. From there, it's on to the methods themselves. Even though point-based graphics is in its infancy, practitioners have already established many effective, economical techniques for achieving all the major effects associated with traditional 3D Modeling and rendering. You'll learn to apply these techniques, and you'll also learn how to create your own. The final chapter demonstrates how to do this using Pointshop3D, an open-source tool for developing new point-based algorithms. - The first book on a major development in computer graphics by the pioneers in the field - Shows how 3D images can be manipulated as easily as 2D images are with Photoshop
Robot 2015 Second Iberian Robotics Conference
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Author : Luís Paulo Reis
language : en
Publisher: Springer
Release Date : 2015-12-01
Robot 2015 Second Iberian Robotics Conference written by Luís Paulo Reis and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-12-01 with Computers categories.
This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. The conference featured 19 special sessions, plus a main/general robotics track. The special sessions were about: Agricultural Robotics and Field Automation; Autonomous Driving and Driver Assistance Systems; Communication Aware Robotics; Environmental Robotics; Social Robotics: Intelligent and Adaptable AAL Systems; Future Industrial Robotics Systems; Legged Locomotion Robots; Rehabilitation and Assistive Robotics; Robotic Applications in Art and Architecture; Surgical Robotics; Urban Robotics; Visual Perception for Autonomous Robots; Machine Learning in Robotics; Simulation and Competitions in Robotics; Educational Robotics; Visual Maps in Robotics; Control and Planning in Aerial Robotics, the XVI edition of the Workshop on Physical Agents and a Special Session on Technological Transfer and Innovation.