Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects

Antoine Petit, Fanny Ficuciello, Giuseppe Andrea Fontanelli, Luigi Villani, Bruno Siciliano

2017

Abstract

In this paper we propose a method to estimate the force applied to a manipulated deformable object by processing information provided by an external vision sensor, in this case a consumer RGB-D camera. By measuring the deformations undergone by the object through a registration technique, the idea is to retrieve the contact force which minimises the deviation between the measured and the simulated deformations, given a simple interaction model and by employing a fitting process. The system resorts to a realistic mesh-based Finite Element Method model to accurately model deformations, whose elastic parameters are estimated in advance using the vision system and a force sensor. Experimental results are presented for the case of a compressive point-wise contact force applied, at static equilibrium, on a deformable object.

Paper Citation

in Harvard Style

Petit A., Ficuciello F., Fontanelli G., Villani L. and Siciliano B. (2017). Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 24-33. DOI: 10.5220/0006415900240033

in Bibtex Style

@conference{icinco17,
author={Antoine Petit and Fanny Ficuciello and Giuseppe Andrea Fontanelli and Luigi Villani and Bruno Siciliano},
title={Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={24-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006415900240033},
isbn={978-989-758-264-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects
SN - 978-989-758-264-6
AU - Petit A.
AU - Ficuciello F.
AU - Fontanelli G.
AU - Villani L.
AU - Siciliano B.
PY - 2017
SP - 24
EP - 33
DO - 10.5220/0006415900240033