WEKO3
アイテム
Data-Driven FEM Modeling of Elastic Cables for Robotic Manipulation Tasks
http://hdl.handle.net/10228/0002000158
http://hdl.handle.net/10228/0002000158fc230f0a-1cb4-49a8-833e-4b1f5bafbcac
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
LaSEINE-2022_080.pdf (659 KB)
|
|
| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2023-10-24 | |||||||||||||||
| 資源タイプ | ||||||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||
| 資源タイプ | journal article | |||||||||||||||
| タイトル | ||||||||||||||||
| タイトル | Data-Driven FEM Modeling of Elastic Cables for Robotic Manipulation Tasks | |||||||||||||||
| 言語 | en | |||||||||||||||
| 言語 | ||||||||||||||||
| 言語 | eng | |||||||||||||||
| 著者 |
di Maria, Enrico
× di Maria, Enrico
× 安川, 真輔
WEKO
28935
|
|||||||||||||||
| 抄録 | ||||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||||
| 内容記述 | The automation of flexible cables assembling tasks by industrial robots is still very challenging. Unlike rigid objects, flexible objects’ state is uncertain, and their deformation is crucial for performing correctly a task. When a human being manipulates a cable, he can have quickly an idea of its geometry and stiffness just by looking at it and shaping it by hands. In this work, we propose a method that mimics this process and makes a robot learn the geometry and stiffness of a cable. The goal is to have a simulator in which the robot can generate the cable and tune its stiffness and damping properties by comparing the simulated deformed shape with that of a cable deformed in a real scenario. At first, the geometry of the cable is obtained by a Lidar, and a FEM model is generated and imported into a simulator. The virtual cable is shaped in a plane by a robot arm, and the resulting shape is compared with that obtained by conducting the same test with a real robot. An optimization based on Bayesian inference and Gaussian process is then used to tune the stiffness and damping properties of the simulated cable. The proposed method shows the ability to generate the cable from scratch and tune its parameters to obtain the desired shape in the plane. | |||||||||||||||
| 言語 | en | |||||||||||||||
| 備考 | ||||||||||||||||
| 内容記述タイプ | Other | |||||||||||||||
| 内容記述 | 2023 15th International Conference on Computer and Automation Engineering (ICCAE), 3-5 March 2023, Sydney, Australia | |||||||||||||||
| 言語 | en | |||||||||||||||
| 書誌情報 |
en : 2023 15th International Conference on Computer and Automation Engineering (ICCAE) p. 427-430, 発行日 2023-05-23 |
|||||||||||||||
| 出版社 | ||||||||||||||||
| 出版者 | IEEE | |||||||||||||||
| 言語 | en | |||||||||||||||
| DOI | ||||||||||||||||
| 関連タイプ | isVersionOf | |||||||||||||||
| 識別子タイプ | DOI | |||||||||||||||
| 関連識別子 | https://doi.org/10.1109/ICCAE56788.2023.10111155 | |||||||||||||||
| ISBN | ||||||||||||||||
| 関連タイプ | isVersionOf | |||||||||||||||
| 識別子タイプ | ISBN | |||||||||||||||
| 関連識別子 | 979-8-3503-9622-5 | |||||||||||||||
| ISSN | ||||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||||
| 収録物識別子 | 2154-4360 | |||||||||||||||
| ISSN | ||||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||||
| 収録物識別子 | 2154-4352 | |||||||||||||||
| 著作権関連情報 | ||||||||||||||||
| 権利情報 | Copyright (c) 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||||||||||||
| 出版タイプ | ||||||||||||||||
| 出版タイプ | AM | |||||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||||||||||
| 査読の有無 | ||||||||||||||||
| 値 | yes | |||||||||||||||
