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Learning Deformable Object Models for Mobile Robot Navigation using Depth Cameras and a Manipulation Robot
| Content Provider | CiteSeerX |
|---|---|
| Author | Schmedding, Ruediger Burgard, Wolfram Frank, Barbara Stachniss, Cyrill Teschner, Matthias |
| Abstract | Abstract—In this paper, we present our recently developed roboticsystemthatcannavigateinenvironmentswithdeformable objects. To achieve this, we propose techniques to learn models of deformable objects by physical interaction between the robot and the objects. We determine the model parameters by establishinga relationbetweentheappliedforcesandthecorrespondingsurface deformations as observed with a depth camera. After modeling the objects in a scene, the robot can perform its navigation tasks more efficiently by considering the cost of deformations during path planning. As we demonstrate in real-world experiments, our system is able to estimate appropriate physical parameters that can be used to predict future deformations and exploits this information during path planning. I. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Deformable Object Model Deformable Object Mobile Robot Navigation Establishinga Deformation Depth Camera Manipulation Robot Appropriate Physical Parameter Path Planning Future Deformation Model Parameter Real-world Experiment Physical Interaction Navigation Task |
| Content Type | Text |
