The Experts below are selected from a list of 7806 Experts worldwide ranked by ideXlab platform

Shinichi Hirai - One of the best experts on this subject based on the ideXlab platform.

  • ROBIO - Geometry and Material Optimization of a Soft Pneumatic Gripper for Handling Deformable Object
    2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018
    Co-Authors: Zhongkui Wang, Shinichi Hirai
    Abstract:

    Handling Deformable Object by a soft robotic gripper presents a challenging task due to the complex interaction between the gripper and the Object. This paper focuses on investigating optimal design of a soft pneumatic gripper for handling Deformable Object. Two geometrical parameters of the soft finger were investigated and minimizing the deformation of the grasping target was considered as the Objective. Finite element (FE) simulation was iterated until the optimal parameters were found. The optimized geometry of the soft finger was then used to investigate the optimal material property following the same process. Soft fingers with different designs and different materials were fabricated and experimentally tested to validate the optimization results. Finally, results suggested that optimal design could reduce the deformation on the target and softer material is more preferable and energy efficient for handling Deformable Objects.

  • wiping motion for Deformable Object handling
    International Conference on Robotics and Automation, 2009
    Co-Authors: Mizuho Shibata, Shinichi Hirai
    Abstract:

    This paper presents wiping motion as a task during which the movement and deformation of a Deformable Object occur simultaneously. During the wiping motion of a Deformable Object, there is contact, but no relative movement, between the manipulator and the Object, while there is both contact and relative movement between the Object and the floor during the displacement of the Object. We first describe wiping motion and distinguish wiping slide from wiping deformation by displacement of the internal points of an Object. In addition, we show that a wiping motion is an extended system of pushing and sliding of rigid Objects. As an example of wiping motion, we utilize grasping of a fabric, and we demonstrate the grasping motion of a fabric using a single-armed gripper.

  • ICRA - Wiping motion for Deformable Object handling
    2009 IEEE International Conference on Robotics and Automation, 2009
    Co-Authors: Mizuho Shibata, Shinichi Hirai
    Abstract:

    This paper presents wiping motion as a task during which the movement and deformation of a Deformable Object occur simultaneously. During the wiping motion of a Deformable Object, there is contact, but no relative movement, between the manipulator and the Object, while there is both contact and relative movement between the Object and the floor during the displacement of the Object. We first describe wiping motion and distinguish wiping slide from wiping deformation by displacement of the internal points of an Object. In addition, we show that a wiping motion is an extended system of pushing and sliding of rigid Objects. As an example of wiping motion, we utilize grasping of a fabric, and we demonstrate the grasping motion of a fabric using a single-armed gripper.

  • ICRA - Robust manipulation of Deformable Objects by a simple PID feedback
    Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2001
    Co-Authors: Takahiro Wada, Shinichi Hirai, Sadao Kawamura, Norimasa Kamiji
    Abstract:

    Robust manipulation strategies of Deformable Objects is presented. Manipulation of Deformable Objects can be found in many fields such as the garment industry and food industry. Guidance of multiple points on a Deformable Object is a primitive operation in the manipulation of Deformable Objects. In this guidance, the points often cannot be manipulated directly. A model of the manipulated Deformable Object is needed in order to perform these operations. It is, however, difficult to build a precise model of a Deformable Object. Thus, we need a robust control scheme that allows us to realize the operations successfully despite discrepancy between a manipulated Deformable Object and its model. We firstly derive a mathematical model of Deformable Objects for their manipulation. Second, indirect simultaneous positioning operations of Deformable Objects are formulated. Then, we propose a PID feedback control law with the rough Object model to realize the manipulation. Furthermore, we propose a simple PID feedback control law without deformation model. The validity and the robustness of the proposed manipulation method is shown through simulation results.

  • Indirect simultaneous positioning of Deformable Objects with multi-pinching fingers based on an uncertain model
    Robotica, 2000
    Co-Authors: Shinichi Hirai, Takahiro Wada
    Abstract:

    A new approach to the control of indirect simultaneous positioning of Deformable Objects is presented. Many manufacturing processes that deal with Deformable Objects such as clothes and rubber sheets involve a positioning of multiple points on a Deformable Object. The multiple points should be guided simultaneously to the desired locations. Moreover, these positioned points cannot be manipulated directly. This operation is referred to as indirect simultaneous positioning. In this article, we will propose a new control law for indirect simultaneous positioning of a Deformable Object based on its uncertain model and will show the robustness of the proposed control law. First, a simplified physical model of a Deformable Object is developed for its positioning operation. Second, indirect simultaneous positioning of an extensible Object is formulated. Based on a linearized model of an extensible Object, we will propose a novel control law for indirect simultaneous positioning. Next, we will prove the robustness of the proposed control law theoretically. Finally, experimental results will show the robustness of our proposed control law against the discrepancy between a real fabric and its uncertain model.

Kazuaki Iwata - One of the best experts on this subject based on the ideXlab platform.

  • static analysis of Deformable Object grasping based on bounded force closure
    International Conference on Robotics and Automation, 1996
    Co-Authors: Hidefumi Wakamatsu, Shinichi Hirai, Kazuaki Iwata
    Abstract:

    A static analysis of Deformable Object grasping based on bounded force closure is presented. There are many manipulative operations that deal with Deformable Objects in manufacturing processes. Manipulative operations for these Objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the Objects during the manipulation process. In order to perform the manipulative operations for Deformable Objects successfully, it is necessary to evaluate their deformation by building Object models and to derive task strategies by analyzing manipulation processes using the Object models. In this paper, we will analyze stable grasping of Deformable Objects based on the concept of bounded force closure. Firstly, we will introduce the concept of bounded force closure, which is an extension of force closure condition. Secondly, we will investigate the necessary condition for bounded force closure in order to derive the properties of bounded force closure grasping. Thirdly, we will formulate the deformation of linear Objects as an example of Deformable Objects and we will propose a procedure to evaluate stability of Deformable Object grasping. Finally, some numerical examples will be shown in order to demonstrate the effectiveness of our proposed method.

  • ICRA - Static analysis of Deformable Object grasping based on bounded force closure
    Proceedings of IEEE International Conference on Robotics and Automation, 1996
    Co-Authors: Hidefumi Wakamatsu, Shinichi Hirai, Kazuaki Iwata
    Abstract:

    A static analysis of Deformable Object grasping based on bounded force closure is presented. There are many manipulative operations that deal with Deformable Objects in manufacturing processes. Manipulative operations for these Objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the Objects during the manipulation process. In order to perform the manipulative operations for Deformable Objects successfully, it is necessary to evaluate their deformation by building Object models and to derive task strategies by analyzing manipulation processes using the Object models. In this paper, we will analyze stable grasping of Deformable Objects based on the concept of bounded force closure. Firstly, we will introduce the concept of bounded force closure, which is an extension of force closure condition. Secondly, we will investigate the necessary condition for bounded force closure in order to derive the properties of bounded force closure grasping. Thirdly, we will formulate the deformation of linear Objects as an example of Deformable Objects and we will propose a procedure to evaluate stability of Deformable Object grasping. Finally, some numerical examples will be shown in order to demonstrate the effectiveness of our proposed method.

Hidefumi Wakamatsu - One of the best experts on this subject based on the ideXlab platform.

  • static analysis of Deformable Object grasping based on bounded force closure
    International Conference on Robotics and Automation, 1996
    Co-Authors: Hidefumi Wakamatsu, Shinichi Hirai, Kazuaki Iwata
    Abstract:

    A static analysis of Deformable Object grasping based on bounded force closure is presented. There are many manipulative operations that deal with Deformable Objects in manufacturing processes. Manipulative operations for these Objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the Objects during the manipulation process. In order to perform the manipulative operations for Deformable Objects successfully, it is necessary to evaluate their deformation by building Object models and to derive task strategies by analyzing manipulation processes using the Object models. In this paper, we will analyze stable grasping of Deformable Objects based on the concept of bounded force closure. Firstly, we will introduce the concept of bounded force closure, which is an extension of force closure condition. Secondly, we will investigate the necessary condition for bounded force closure in order to derive the properties of bounded force closure grasping. Thirdly, we will formulate the deformation of linear Objects as an example of Deformable Objects and we will propose a procedure to evaluate stability of Deformable Object grasping. Finally, some numerical examples will be shown in order to demonstrate the effectiveness of our proposed method.

  • ICRA - Static analysis of Deformable Object grasping based on bounded force closure
    Proceedings of IEEE International Conference on Robotics and Automation, 1996
    Co-Authors: Hidefumi Wakamatsu, Shinichi Hirai, Kazuaki Iwata
    Abstract:

    A static analysis of Deformable Object grasping based on bounded force closure is presented. There are many manipulative operations that deal with Deformable Objects in manufacturing processes. Manipulative operations for these Objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the Objects during the manipulation process. In order to perform the manipulative operations for Deformable Objects successfully, it is necessary to evaluate their deformation by building Object models and to derive task strategies by analyzing manipulation processes using the Object models. In this paper, we will analyze stable grasping of Deformable Objects based on the concept of bounded force closure. Firstly, we will introduce the concept of bounded force closure, which is an extension of force closure condition. Secondly, we will investigate the necessary condition for bounded force closure in order to derive the properties of bounded force closure grasping. Thirdly, we will formulate the deformation of linear Objects as an example of Deformable Objects and we will propose a procedure to evaluate stability of Deformable Object grasping. Finally, some numerical examples will be shown in order to demonstrate the effectiveness of our proposed method.

Yong-xin Wang - One of the best experts on this subject based on the ideXlab platform.

  • a four camera videogrammetric system for 3 d motion measurement of Deformable Object
    Optics and Lasers in Engineering, 2012
    Co-Authors: Hao Hu, Zhen Zhong Xiao, Zheng Zong Tang, Anand Krishna Asundi, Jin Liang, Yong-xin Wang
    Abstract:

    Abstract A four-camera videogrammetric system with large field-of-view is proposed for 3-D motion measurement of Deformable Object. Four high-speed commercial-grade cameras are used for image acquisition. Based on close-range photogrammetry, an accurate calibration method is proposed and verified for calibrating the four cameras simultaneously, where a cross target as calibration patterns with feature points pasted on its two-sides is used. The key issues of the videogrammetric processes including feature point recognition and matching, 3-D coordinate and displacement reconstruction, and motion parameters calculation are discussed in detail. Camera calibration experiment indicates that the proposed calibration method, with a re-projection error less than 0.05 pixels, has a considerable accuracy. Accuracy evaluation experiments prove that the accuracy of the proposed system is up to 0.5 mm on length dynamic measurement within 5000 mm×5000 mm field-of-view. Motion measurement experiment on an automobile tire is conducted to validate performance of our system. The experimental results show that the proposed four-camera videogrammetric system is available and reliable for position, trajectory, displacement and speed measurement of Deformable moving Object.

  • A four-camera videogrammetric system for 3-D motion measurement of Deformable Object
    Optics and Lasers in Engineering, 2012
    Co-Authors: Hao Hu, Zhen Zhong Xiao, Zheng Zong Tang, Anand Krishna Asundi, Jin Liang, Yong-xin Wang
    Abstract:

    A four-camera videogrammetric system with large field-of-view is proposed for 3-D motion measurement of Deformable Object. Four high-speed commercial-grade cameras are used for image acquisition. Based on close-range photogrammetry, an accurate calibration method is proposed and verified for calibrating the four cameras simultaneously, where a cross target as calibration patterns with feature points pasted on its two-sides is used. The key issues of the videogrammetric processes including feature point recognition and matching, 3-D coordinate and displacement reconstruction, and motion parameters calculation are discussed in detail. Camera calibration experiment indicates that the proposed calibration method, with a re-projection error less than 0.05 pixels, has a considerable accuracy. Accuracy evaluation experiments prove that the accuracy of the proposed system is up to 0.5 mm on length dynamic measurement within 5000 mm×5000 mm field-of-view. Motion measurement experiment on an automobile tire is conducted to validate performance of our system. The experimental results show that the proposed four-camera videogrammetric system is available and reliable for position, trajectory, displacement and speed measurement of Deformable moving Object. © 2011 Elsevier Ltd. All rights reserved.

Bradley J. Nelson - One of the best experts on this subject based on the ideXlab platform.

  • a Deformable Object tracking algorithm based on the boundary element method that is robust to occlusions and spurious edges
    International Journal of Computer Vision, 2008
    Co-Authors: Michael A. Greminger, Bradley J. Nelson
    Abstract:

    The manipulation of Deformable Objects is an important problem in robotics and arises in many applications including biomanipulation, microassembly, and robotic surgery. For some applications, the robotic manipulator itself may be Deformable. Vision-based Deformable Object tracking can provide feedback for these applications. Computer vision is a logical sensing choice for tracking Deformable Objects because the large amount of data that is collected by a vision system allows many points within the Deformable Object to be tracked simultaneously. This article introduces a template based Deformable Object tracking algorithm, based on the boundary element method, that is able to track a wide range of Deformable Objects. The robustness of this algorithm to occlusions and to spurious edges in the source image is also demonstrated. A robust error measure is used to handle the problem of occlusion and an improved edge detector based on the Canny edge operator is used to suppress spurious edges. This article concludes by quantifying the performance increase provided by the robust error measure and the robust edge detector. The performance of the algorithm is also demonstrated through the tracking of a sequence of cardiac MRI images.

  • ICRA - A Deformable Object Tracking Algorithm Robust to Occlusions and Spurious Edges
    Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005
    Co-Authors: Michael A. Greminger, Bradley J. Nelson
    Abstract:

    Deformable Object tracking is used in many robotics applications including biomanipulation, vision-based force sensing, and the control of Deformable structures. A tracking algorithm that is robust to occlusions and to spurious edges is essential since these situations can arise unexpectedly in the unstructured environments in which robots must operate. This paper presents a Deformable Object tracking algorithm that is robust to occlusion and to spurious edges. Robust statistical methods are used to handle occlusion and a modification of the Canny edge detector is presented to handle spurious edges. The modification of the Canny edge operator makes use of information about the Object being tracked in order to eliminate spurious edges. The Deformable Object tracking algorithm's performance is evaluated visually and quantitively by tracking a four degree-of-freedom compliant gripper.

  • boundary element Deformable Object tracking with equilibrium constraints
    International Conference on Robotics and Automation, 2004
    Co-Authors: Michael A. Greminger, Bradley J. Nelson
    Abstract:

    This paper presents a Deformable Object tracking algorithm based on the boundary element method (BEM). BEM differs from the finite element method (FEM) in that only the boundary of the Object needs to be meshed for BEM. FEM requires that the interior of the Object is meshed in addition to its boundary. This feature of BEM makes it attractive for computer vision problems. We present a Deformable template that uses BEM to model deformations. This Deformable template is registered to an image using an energy minimization approach. The BEM tracking algorithm presented in this paper constraints the tracking results to satisfy the condition of static equilibrium. This increases the robustness of the tracking results and enhances the usefulness of the forces obtained from the tracking procedure. We demonstrate the tracking performance of this algorithm for Objects with linear and non-linear elastic properties. In addition, the results of tracking the deformations of a cell are presented.

  • Deformable Object tracking using the boundary element method
    Computer Vision and Pattern Recognition, 2003
    Co-Authors: Michael A. Greminger, Bradley J. Nelson
    Abstract:

    This paper presents a method to perform 2D (two-dimensional) Deformable Object tracking using the boundary element method (BEM). BEM, like the finite element method (FEM), is a technique to model an elastic solid. BEM differs from FEM in that only the contour of an Object needs to be meshed for BEM, making this method attractive for computer vision problems. For FEM, the interior of the Object must be meshed also. In order to track Deformable Objects, a Deformable template is defined that uses BEM to model displacements. The template is registered to the image by applying a force field that deforms the template to match the image. This force field is found using an energy minimization approach. Even though the Deformable template uses a linear elastic model, it can be used to track the deformations of Objects with nonlinear material properties or in cases where there are large deformations. We demonstrate the performance of this method on Objects with linear and nonlinear elastic properties. In addition, it is discussed how this method can be readily extended to 3D (three-dimensional) Deformable Object tracking.