Robotic Manipulation Of Deformable Rope Like Objects Using Differentiable Position Based Dynamics

Differentiable Robotic Manipulation Of Deformable Rope-like Objects Using Compliant Position ...

Differentiable Robotic Manipulation Of Deformable Rope-like Objects Using Compliant Position ... Robot manipulation of rope like objects is an interesting problem with some critical applications, such as autonomous robotic suturing. solving for and controlling rope is difficult due to the complexity of rope physics and the challenge of building fast and accurate models of deformable materials. We demonstrate our framework's robustness and accuracy on real to sim experimental setups using the baxter robot and the da vinci research kit (dvrk). our work leads to a new path for robotic manipulation of the deformable rope like object taking advantage of the ready to use gradients.

Benchmarking Deformable Object Manipulation With Differentiable Physics | DeepAI

Benchmarking Deformable Object Manipulation With Differentiable Physics | DeepAI Towards this end, we introduced compliant position based dynamics (xpbd) to model rope like objects. using geometric constraints, the model can represent the coupling of shear/stretch. My research interests lie in the fields of computer vision and robotics. during my work, i have focused on state estimation, 3d reconstruction, and their applications in space and surgical robots. website templete from here. This research addresses the challenge of large/complex deformation in the shape control tasks of deformable linear objects (dlo). we propose a collaborative approach using two manipulators to achieve shape control of a dlo in 2d workspace. Specifically, we propose differentiable particles (dipac), a new algorithm for deformable object manipulation. dipac represents a deformable object as a set of particles and uses a differentiable particle dynamics simulator to reason about robot manipulation.

Challenges And Outlook In Robotic Manipulation Of Deformable Objects IEEE Robotics & Automation ...

Challenges And Outlook In Robotic Manipulation Of Deformable Objects IEEE Robotics & Automation ... This research addresses the challenge of large/complex deformation in the shape control tasks of deformable linear objects (dlo). we propose a collaborative approach using two manipulators to achieve shape control of a dlo in 2d workspace. Specifically, we propose differentiable particles (dipac), a new algorithm for deformable object manipulation. dipac represents a deformable object as a set of particles and uses a differentiable particle dynamics simulator to reason about robot manipulation. In conclusion, we present dipac, a general algorithm that enables manipulation of a wide range of deformable objects using differentiable dynamics in simulation and on real robots. We address some common problems with traditional particle based methods and describe a parallel constraint solver based on position based dynamics that is efficient enough for real time. Towards this end, we introduced compliant position based dynamics (xpbd) to model rope like objects. using geometric constraints, the model can represent the coupling of shear/stretch and bend/twist effects. We review the recent literature on the topic and classify it into 5 categories based on the type of object the study aims to manipulate: fabric like, rope like, malleable, amorphous flowing, and others. a comparative overview of methods that tackle each category using il techniques is provided.

Robotic manipulation of deformable rope-like objects using differentiable position-based dynamics