With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to industrial assembly and construction. Routing approaches for deformable objects which rely on learned implicit spatial representations (e.g., Learning-from-Demonstration methods) make them vulnerable to changes in the environment and the specific setup. On the other hand, algorithms that entirely separate the spatial representation of the deformable object from the routing and manipulation, often using a representation approach independent of planning, result in slow planning in high dimensional space. This paper proposes a novel approach to routing deformable one-dimensional objects (e.g., wires, cables, ropes, sutures, threads). This approach utilizes a compact representation for the object, allowing efficient and fast online routing. The spatial representation is based on the geometrical decomposition of the space into convex subspaces, resulting in a discrete coding of the deformable object configuration as a sequence. With such a configuration, the routing problem can be solved using a fast dynamic programming sequence matching method that calculates the next routing move. The proposed method couples the routing and efficient configuration for improved planning time. Our simulation and real experiments show the method correctly computing the next manipulation action in sub-millisecond time and accomplishing various routing and manipulation tasks.
翻译:硬体机器人领域在过去五十年中已经成熟,变形物体的路线、规划和操作最近作为许多领域(从外科机器人手术到工业组装和建筑等)中较不触动的研究领域出现。对变形物体的运行方法依赖于学习的隐含空间表达方式(例如,从演示中学习,从演示中学习),使其易受环境变化和具体设置的影响。另一方面,将变形物体的空间代表形式与变形物体的路线和操作完全分开的算法,往往使用独立于规划的代言法,从而导致高维空间的缓慢规划。本文提出了对变形的单维物体(例如,电线、电缆、绳索、线条、线条)进行变形调整的新方法。这种方法利用了该物体的缩略图,允许高效和快速的在线路由。空间代表法是将变形物体的空间结构与变形物体的变形和变形小空间空间进行完全分解,从而在高维空间进行分解的演示,从而在高维空间空间进行分解后,导致分解的变形操作,从而在高维空间空间中进行缓慢的变形操作。本文件提出了一种新的变形方法,用变形轨道配置,用一种变形轨道结构,用一种变形方法来将变形方法,从而将变动的变动的变动的变形方法将变形的变形的变形方法将变形的变形方法将显示一个变动的变动的变形方法,以变动的变形变形变形变形方法将变动的变动的变动的变动的变形方法将变动的变形的变形的变形的变形的变形的变形变形变形变形变形变形方法,以变形变形变形的变形变形变形变形的变形变动的变形变形方法,以变形方法,以变形方法,以变形的变动的变形的变形的变形的变形的变形的变动的变动的变形的变形的变形的变形的变形的变动的变形的变形的变形的变形的变形的变形变形变形变形变形的变形变形的变形变形变形