Manipulating Deformable Objects with a Dual-arm Robot

Stéphane Caro; Christine Chevallereau; Alberto Remus

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Paper

Manipulating Deformable Objects with a Dual-arm Robot

Topics: Motion and Tracking; Multi-agent Systems and Cooperative Robotics; Robot Control ; Robot Vision

In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems ROBOVIS - Volume 1, 48-56, 2021

Authors: Stéphane Caro ¹ ; Christine Chevallereau ¹ and Alberto Remus ²

Affiliations: ¹ Centre National de la Recherche Scientifique (CNRS), Laboratoire des Sciences du Numérique de Nantes (LS2N), 44300 Nantes, France ; ² École Centrale de Nantes, 44300 Nantes, France

Keyword(s): Deformable Models, Dual-arm Robot, Manipulation, Stability Analysis.

Abstract: Competition in all sectors requires companies to be increasingly flexible to market changes and the assembly industry is no exception. The impact of this work concerns aircraft production, as well as other fields. The main focus is on modelling and control techniques to carry out assembly tasks involving deformable parts, by exploiting a multi-robot system. Specifically, two robot arms are used to move a light and deformable part in order to adapt its shape for an assembly operation. A vision system is used, assisted by markers. Furthermore, the stability of the proposed controller is analyzed and experimental results are given.

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Paper citation in several formats:

Caro, S.; Chevallereau, C. and Remus, A. (2021). Manipulating Deformable Objects with a Dual-arm Robot. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS; ISBN 978-989-758-537-1, SciTePress, pages 48-56. DOI: 10.5220/0010707600003061

@conference{robovis21,
author={Stéphane Caro. and Christine Chevallereau. and Alberto Remus.},
title={Manipulating Deformable Objects with a Dual-arm Robot},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS},
year={2021},
pages={48-56},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010707600003061},
isbn={978-989-758-537-1},
}

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS
TI - Manipulating Deformable Objects with a Dual-arm Robot
SN - 978-989-758-537-1
AU - Caro, S.
AU - Chevallereau, C.
AU - Remus, A.
PY - 2021
SP - 48
EP - 56
DO - 10.5220/0010707600003061
PB - SciTePress