Authors:
Antoine Petit
;
Fanny Ficuciello
;
Giuseppe Andrea Fontanelli
;
Luigi Villani
and
Bruno Siciliano
Affiliation:
Università degli Studi di Napoli, Italy
Keyword(s):
Force Estimation, Physical Modelling, Deformable Objects.
Related
Ontology
Subjects/Areas/Topics:
Force and Tactile Sensors
;
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vision, Recognition and Reconstruction
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.