Adaptive Deformation Control for Elastic Linear Objects.

ABSTRACT: This paper addresses the general problem of deformable linear object manipulation. The main application we consider is in the field of agriculture, for plant grasping, but may have interests in other tasks such as human daily activities and industrial production. We specifically consider an elastic linear object where one of its endpoints is fixed, and another point can be grasped by a robotic arm. To deal with the mentioned problem, we propose a model-free method to control the state of an arbitrary point that can be at any place along the object's length. Our approach allows the robot to manipulate the object without knowing any model parameters or offline information of the object's deformation. An adaptive control strategy is proposed for regulating the state of any point automatically

SUBMITTER: Aghajanzadeh O 

PROVIDER: S-EPMC9096453 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature