REMODEL. WP5. Cable Manipulation Planning, Execution and Interactive Perception. T5-2. Cable grasping. Data related to the validation of DLO Models from Shape Observation

Palli, Gianluca ; Pirozzi, Salvatore (2022) REMODEL. WP5. Cable Manipulation Planning, Execution and Interactive Perception. T5-2. Cable grasping. Data related to the validation of DLO Models from Shape Observation. University of Bologna. DOI 10.6092/unibo/amsacta/7059. [Dataset]
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Abstract

These data provide the fitting of the model of deformable linear objects from the observation of the shape under the effect of known external forces like gravity. The model of the deformable linear object is based on dynamic splines, allowing to obtain a reliable prediction of the object behavior while preserving a suitable efficiency and simplicity of the model. The object shape is measured by means of a calibrated vision system, and a fitting between the observed shape and the theoretical model is defined for validation. Experiments are executed in different conditions to investigate the reliability of the proposed spline-based model. The datasets contain data related to the experiments presented in the publication: Palli, G., Pirozzi, S., “Validating DLO models from shape observation” (2021) IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2021-July, pp. 430-435. (DOI: 10.1109/AIM46487.2021.9517570)

Abstract
Document type
Dataset
Creators
CreatorsAffiliationORCID
Palli, GianlucaUniversity of Bologna0000-0001-9457-4643
Pirozzi, SalvatoreUniversity of Campania “Luigi Vanvitelli”0000-0002-1237-0389
Subjects
DOI
Contributors
NameAffiliationORCIDType
Pirozzi, SalvatoreUniversity of Campania “Luigi Vanvitelli”Contact person
Deposit date
26 Oct 2022 09:44
Last modified
26 Oct 2022 09:44
Related identifier
Related identifier typeRelation typeCode
DOIthis upload is supplement tohttps://doi.org/10.1109/AIM46487.2021.9517570
Project name
REMODEL - Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects
Funding program
EC - H2020
URI

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