Keypoint-Based Planar Bimanual Shaping of Deformable Linear Objects Under Environmental Constraints With Hierarchical Action Framework

Huo, Shengzeng; Duan, Anqing; Li, Chengxi; Zhou, Peng; Ma, Wanyu; Wang, Hesheng; Navarro-Alarcon, David

doi:10.1109/lra.2022.3154842

Cited by 28 publications

(9 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It can be verified that (11) in fact belongs to a Quadratic Programming (QP) problem. In general, the standard formulation of a QP problem is composed of a quadratic-form objective function of the design variables and a set of linear equality and inequality constraints:…”

Section: Controller Designmentioning

confidence: 99%

“…By re-arranging the objectives and constraint terms of (11) towards the general QP formalism of (12), the original optimization problem (11) can be equivalently written as…”

Section: Controller Designmentioning

confidence: 99%

“…The correspondence relationship between (11) and ( 12) is thus yielded explicitly with the help of ( 13). As a result, the innerloop optimization can be solved fast enough due to the merits of QP and it is possible to implement real-time optimizationbased robot control.…”

Section: Controller Designmentioning

confidence: 99%

“…Notably, a rich literature on pHRI is dedicated to enhancing safety and flexibility [9]. Among various perspectives, we aim at endowing the robot with variable impedance control, which plays a crucial role for a robot to safely perform contact-sensitive tasks [10], [11] or reliably assist a human subject for rehabilitation purposes [12]. Compared with stochastic searching-based techniques such as evolution strategies [13] or inverse reinforcement learning [14], transferring variable impedance skills via human demonstrations provides a more intuitive and straightforward fashion [15], [16].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Ultrasound-Guided Assistive Robots for Scoliosis Assessment with Optimization-based Control and Variable Impedance

Duan¹,

Victorova²,

Zhao³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

Assistive robots for healthcare have seen a growing demand due to the great potential of relieving medical practitioners from routine jobs. In this paper, we investigate the development of an optimization-based control framework for an ultrasound-guided assistive robot to perform scoliosis assessment. A conventional procedure for scoliosis assessment with ultrasound imaging typically requires a medical practitioner to slide an ultrasound probe along a patient's back. To automate this type of procedure, we need to consider multiple objectives, such as contact force, position, orientation, energy, posture, etc. To address the aforementioned components, we propose to formulate the control framework design as a quadratic programming problem with each objective weighed by its task priority subject to a set of equality and inequality constraints. In addition, as the robot needs to establish constant contact with the patient during spine scanning, we incorporate variable impedance regulation of the end-effector position and orientation in the control architecture to enhance safety and stability during the physical humanrobot interaction. Wherein, the variable impedance gains are retrieved by learning from the medical expert's demonstrations. The proposed methodology is evaluated by conducting real-world experiments of autonomous scoliosis assessment with a robot manipulator xArm. The effectiveness is verified by the obtained coronal spinal images of both a phantom and a human subject.

show abstract

Section: Controller Designmentioning

confidence: 99%

“…By re-arranging the objectives and constraint terms of (11) towards the general QP formalism of (12), the original optimization problem (11) can be equivalently written as…”

Section: Controller Designmentioning

confidence: 99%

Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Ultrasound-Guided Assistive Robots for Scoliosis Assessment with Optimization-based Control and Variable Impedance

Duan¹,

Victorova²,

Zhao³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Alternative to exact analytical models, a model-free method may try to identify representations of rope using purely visual descriptors from a camera without involving classical mechanics. These model-free representations include curvature and Fourier-based shapes [22], [23], as well as neural network features [24], [25], [26]. Instead of directly modeling physical mechanics, the state space representation is embedded in these latent space features.…”

Section: Introductionmentioning

confidence: 99%

Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics

Liu¹,

Entong²,

Lu³

et al. 2022

Preprint

View full text Add to dashboard Cite

Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the challenge of building fast and accurate models of deformable materials. While more data-driven approaches have become more popular for finding controllers that learn to do a single task, there is still a strong motivation for a modelbased method that could be used to solve a large variety of optimization problems. Towards this end, we introduced compliant, position-based dynamics (XPBD) to model rope-like objects. Using geometric constraints, the model can represent the coupling of shear/stretch and bend/twist effects. Of crucial importance is that our formulation is differentiable, which can solve parameter estimation problems and improve the matching of rope physics to real-life scenarios (i.e., the realto-sim problem). For the generality of rope-like objects, two different solvers are proposed to handle the inextensible and extensible effects of varied material stiffness for the rope. We demonstrate our framework's robustness and accuracy on realto-sim experimental setups using the Baxter robot and the da Vinci research kit (DVRK) [1]. Our work leads to a new path for robotic manipulation of the deformable rope-like object taking advantage of the ready-to-use gradients.

show abstract

Rearranging Deformable Linear Objects for Implicit Goals with Self‐Supervised Planning and Control

Huo,

Hu,

Wang

et al. 2024

Advanced Intelligent Systems

View full text Add to dashboard Cite

The robotic manipulation of deformable linear objects is a frontier problem with many potential applications in diverse industries. However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider physical constraints, which limits its applicability in many real‐world scenarios. In this study, a self‐supervised planning and control approach are proposed to address the challenge of rearranging deformable linear objects for implicit goals. Specifically, the context of making both ends of the object reachable (inside the robotic access range) and graspable (outside potential collision regions) by dual‐arm robots is considered. Firstly, the object is described with sequential keypoints and the correspondence‐based action is parameterized. Secondly, a generator capable of producing multiple explicit targets is developed, which adhere to implicit conditions. Thirdly, value models are learnt to assign the most promising explicit target as guidance and determine the goal‐conditioned action. All models within the policy are trained in a self‐supervised manner based on data collected from simulations. Importantly, the learned policy can be directly applied to real‐world settings since we do not rely on accurate dynamic models. The performance of the new method is validated with simulations and real‐world experiments.

show abstract

Keypoint-Based Planar Bimanual Shaping of Deformable Linear Objects Under Environmental Constraints With Hierarchical Action Framework

Cited by 28 publications

References 26 publications

Ultrasound-Guided Assistive Robots for Scoliosis Assessment with Optimization-based Control and Variable Impedance

Ultrasound-Guided Assistive Robots for Scoliosis Assessment with Optimization-based Control and Variable Impedance

Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics

Rearranging Deformable Linear Objects for Implicit Goals with Self‐Supervised Planning and Control

Contact Info

Product

Resources

About