REMODEL. WP5. Cable Manipulation Planning Execution Interactive Perception. T5_3. Bimanual Wire And Cable Manipulation. Bimanual Cable Manipulation. Model-based Manipulation. v0

Khalifa, Alaa ; Palli, Gianluca (2022) REMODEL. WP5. Cable Manipulation Planning Execution Interactive Perception. T5_3. Bimanual Wire And Cable Manipulation. Bimanual Cable Manipulation. Model-based Manipulation. v0. University of Bologna. DOI 10.6092/unibo/amsacta/7055. [Dataset]
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Abstract

The dataset contain the data related to the simulation of a new model-based manipulation technique for reshaping a DLO employing a sequence of grasping and releasing primitives performed by a single-armed robot equipped with a gripper. A decision process selects the optimal grasping point exploiting an error minimization approach and chooses the related releasing point. This decision process performs a spline interpolation between the error values obtained from candidate grasping points and chooses the optimal point that owns a minimum error. The multivariate dynamic spline model of the DLO is exploited to select the optimal grasping point and predict the DLO behavior during the manipulation process. Because of its advantages over other integration methods, the symplectic integrator is utilized for iteratively solving the DLO dynamic model. The simulations are executed with a DLO lying on a table and illustrate the intermediate deformation steps which lead the DLO from its starting state to the desired one. They demonstrate that our proposed technique can efficiently manipulate the DLO into various shapes in few steps. The data are presented in the publication: Khalifa A., Palli G., “New model-based manipulation technique for reshaping deformable linear objects”, International Journal of Advanced Manufacturing Technology, 118 (11-12), pp. 3575 - 3583, 2022, DOI: 10.1007/s00170-021-08107-x.

Abstract
Document type
Dataset
Creators
CreatorsAffiliationORCID
Khalifa, AlaaUniversity of Bologna0000-0002-1617-5409
Palli, GianlucaUniversity of Bologna0000-0001-9457-4643
Subjects
DOI
Contributors
NameAffiliationORCIDType
Palli, GianlucaUniversity of Bologna0000-0001-9457-4643Contact person
Deposit date
26 Oct 2022 09:27
Last modified
26 Oct 2022 09:27
Related identifier
Related identifier typeRelation typeCode
DOIthis upload is supplement tohttps://doi.org/10.1007/s00170-021-08107-x
Project name
REMODEL - Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects
Funding program
EC - H2020
URI

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