Stable Real-Time Surgical Cutting Simulation of Deformable Objects Embedded with Arbitrary Triangular Meshes
Sign Up to like & getrecommendations! Published in 2017 at "Journal of Computer Science and Technology"
DOI: 10.1007/s11390-017-1794-z
Abstract: Surgical simulators need to simulate deformation and cutting of deformable objects. Adaptive octree mesh based cutting methods embed the deformable objects into octree meshes that are recursively refined near the cutting tool trajectory. Deformation is… read more here.
Keywords: octree meshes; stable real; arbitrary triangular; deformable objects ... See more keywords
A simple assembly planner for the insertion of ring-shaped deformable objects
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DOI: 10.1108/aa-12-2016-181
Abstract: Purpose The aim of this work is to develop a simple planner that is able to automatically plan the motion for a dual-arm manipulator that assembles a ring-shaped elastic object into a cylinder. Moreover, it… read more here.
Keywords: assembly planner; simple assembly; deformable objects; ring ... See more keywords
Design and Test of a Curved-Beam Based Compliant Gripper for Manipulations of Actively Deformable Objects
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DOI: 10.1109/access.2022.3210221
Abstract: Sizes and stiffness variations of actively deformable objects pose significant challenges on the design of compliant constant-force gripper. This paper presents a curved-beam based constant force compliant gripper which is composed of the constant force… read more here.
Keywords: constant force; deformable objects; beam based; actively deformable ... See more keywords
Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects
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DOI: 10.1109/lra.2020.2972837
Abstract: We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. We provide… read more here.
Keywords: semi deformable; deformable objects; bimanual robotic; robotic manipulation ... See more keywords
Bimanual Handling of Deformable Objects With Hybrid Adhesion
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DOI: 10.1109/lra.2022.3158231
Abstract: We present hybrid adhesive end-effectors for bimanual handling of deformable objects. The gripping system is driven by the need to achieve alignment on deformable and irregular surfaces while maintaining a large area of contact for… read more here.
Keywords: handling deformable; adhesion; gripping system; deformable objects ... See more keywords
Design of a Soft Gripper With Improved Microfluidic Tactile Sensors for Classification of Deformable Objects
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3158440
Abstract: Tactile object recognition is vital for robotic handling systems; however, existing technologies that concentrate on tactile sensors with high modulus are not suitable for soft grippers to classify deformable objects. In this letter, we integrated… read more here.
Keywords: tactile sensors; microfluidic tactile; deformable objects; soft gripper ... See more keywords
DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects
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DOI: 10.1109/lra.2022.3158725
Abstract: Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp strategies for such objects is uniquely challenging.… read more here.
Keywords: grasp outcomes; physics; deformable objects; based simulation ... See more keywords
Interaction Control for Tool Manipulation on Deformable Objects Using Tactile Feedback
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3257680
Abstract: The human sense of touch enables us to perform delicate tasks on deformable objects and/or in a vision-denied environment. To achieve similar desirable interactions for robots, such as administering a swab test, tactile information sensed… read more here.
Keywords: tactile; interaction; tool; contact ... See more keywords
Ensemble convolutional neural network for classifying holograms of deformable objects.
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DOI: 10.1364/oe.27.034050
Abstract: Recently, a method known as "ensemble deep learning invariant hologram classification" (EDL-IHC) for classifying of holograms of deformable objects with deep learning network (DLN) has been demonstrated. However DL-IHC requires substantial computational resources to attain… read more here.
Keywords: network; success rate; deep learning; deformable objects ... See more keywords