Blind Manipulation of Deformable Objects Based on Force Sensing and Finite Element Modeling
In this paper, we present a novel pipeline to simultaneously estimate and manipulate the deformation of an object using only force sensing and an FEM model. The pipeline is composed of a sensor model, a deformation model and a pose controller. The sensor model computes the contact forces that are us...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2020-06-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2020.00073/full |