Projekteja vuodessa
Abstrakti
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of feedback-based control to robotic fabric strip folding. The feedback is computed from the low dimensional state extracted from a camera image. We trained the controller using reinforcement learning in simulation which was calibrated to cover the real fabric strip behaviors. The proposed feedback-based folding was experimentally compared to two state-of-the-art folding methods and our method outperformed both of them in terms of accuracy.
Alkuperäiskieli | Englanti |
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Otsikko | Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 |
Kustantaja | IEEE |
Sivut | 773-778 |
Sivumäärä | 6 |
ISBN (elektroninen) | 9781728140049 |
DOI - pysyväislinkit | |
Tila | Julkaistu - 1 marrask. 2019 |
OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
Tapahtuma | IEEE/RSJ International Conference on Intelligent Robots and Systems - The Venetian Macao, Macau, Kiina Kesto: 4 marrask. 2019 → 8 marrask. 2019 https://www.iros2019.org/ |
Julkaisusarja
Nimi | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Kustantaja | IEEE |
ISSN (painettu) | 2153-0858 |
ISSN (elektroninen) | 2153-0866 |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Lyhennettä | IROS |
Maa/Alue | Kiina |
Kaupunki | Macau |
Ajanjakso | 04/11/2019 → 08/11/2019 |
www-osoite |
Sormenjälki
Sukella tutkimusaiheisiin 'Feedback-based Fabric Strip Folding'. Ne muodostavat yhdessä ainutlaatuisen sormenjäljen.Projektit
- 1 Päättynyt
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-: AI hämähäkin seitti
Kyrki, V. (Vastuullinen tutkija)
01/01/2018 → 31/12/2022
Projekti: Academy of Finland: Other research funding