FEM-Based Deformation Control for Dexterous Manipulation of 3D Soft Objects
F. Ficuciello, A. Migliozzi, E. Coevoet, A. Petit, C. Duriez
Abstract
In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling. The goal is to generate proper forces on the fingertips of an anthropomorphic device during in-hand manipulation to produce desired displacements of selected control points on the object. The desired motions of the fingers are computed in real-time as an inverse solution of a Finite Element Method (FEM), the forces applied by the fingertips at the contact points being modelled by Lagrange multipliers. The elasticity parameters of the model are preliminarly estimated using a vision system and a force sensor. Experimental results are shown with an underactuated anthropomorphic hand that performs a manipulation task on a soft cylindrical object.
BibTeX
@inproceedings{iros2018_fembaseddeformat,
title = {FEM-Based Deformation Control for Dexterous Manipulation of 3D Soft Objects},
author = {F. Ficuciello and A. Migliozzi and E. Coevoet and A. Petit and C. Duriez},
booktitle = {IROS 2018},
year = {2018}
}