An outline for an intelligent system performing peg-in-hole actions with flexible objects

Authors:
Andreas Jordt;Andreas R. Fugl;Leon Bodenhagen;Morten Willatzen;Reinhard Koch;Henrik G. Petersen;Knud A. Andersen;Martin M. Olsen;Norbert Krüger
Affiliations:
Institute of Computer Science, Christian-Albrechts-Universität Kiel, Germany;The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark;The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark;Mads Clausen Institute, University of Southern Denmark, Denmark;Institute of Computer Science, Christian-Albrechts-Universität Kiel, Germany;The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark;Centre for Robot Technology, Danish Technological Institute, Denmark;Centre for Robot Technology, Danish Technological Institute, Denmark;The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark
Venue:
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Year:
2011

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Abstract

We describe the outline of an adaptable system which is able to perform grasping and peg-in-hole actions with flexible objects. The system makes use of visual tracking and shape reconstruction, physical modeling of flexible material and learning based on a kernel density approach. We show results for the different sub-modules in simulation as well as real world data.