Deformation identification and estimation of one‐dimensional objects by vision sensors

Abstract

Using vision sensors to study object deformation is introduced in this article. The vision sensor is used to identify the deformation characteristic and estimate the deformation behavior of flexible beams. First, a nonlinear equation describing the deformation of the beam is given. Then, cubic spline functions are used to approximate the contour of the deformed beam after the beam is detected by the vision sensor. Using the cubic spline approximation and Maclaurin's series expansion, a procedure to determine the deformation characteristic is formulated. To estimate the deformation behavior, numerical differential method to solve the nonlinear equation is used. The error of this numerical method can be controlled with the aid of the vision sensor. Finally, experimental results are given to verify that the proposed methods are effective.

Model-Based Manipulation of Linear Flexible Objects: Task Automation in Simulation and Real World

“…A recent review paper about different physical models of the cable-like deformable linear objects is provided by Lv et al [15]. Chen and Zheng [16] used a cubic spline function to estimate the contour of a flexible aluminum beam in the 2D plane, and a non-linear model was applied to describe the deformation based on the material characteristics identified by vision sensors. A systematic method to model the bend, twist, and extensional deformations of flexible linear objects was presented in [17], and the stable deformed shape of the flexible object was characterized by minimizing the potential energy under the geometric constraints.…”

Model-Based Manipulation of Linear Flexible Objects with Visual Curvature Feedback

“…In most of the related literature of manipulating cablelike objects, the physical model of the deformed object needs to be known before the manipulation such that the deformation of the object can be predicted. Chen and Zheng [10] used a cubic spline function to estimate the contour of a flexible aluminum beam in the 2-D plane, and a nonlinear model was applied to describe the deformation based 1 Department of Electrical and Computer Engineering, Northeastern University, Boston, Massachusetts, USA. chang.pe@husky.neu.edu 2 Institute for Experiential Robotics, Northeastern University, Boston, Massachusetts, USA.…”

Dual-arm robotic manipulation of flexible cables

“…In this work, a vision system was used to guide the robot and an abstract description of the cable configuration was developed. Later, Chen and Zhang [6] used a non-linear model to characterize the deformation of a flexible beam, and applied the model for manipulation. A more complex model of linear objects considering twist was developed in [7]; the stable shape of the object can be derived by minimizing the potential energy under geometric firstname.lastname@lirmm.fr constraints.…”