Interactive Perception for Deformable Object Manipulation

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and occlusion in vision-based perception. In this work, we address such...

Full description

Saved in:
Bibliographic Details
Published in:arXiv.org 2024-06
Main Authors: Weng, Zehang, Zhou, Peng, Yin, Hang, Kravberg, Alexander, Varava, Anastasiia, Navarro-Alarcon, David, Kragic, Danica
Format: Article
Language:English
Subjects:
Cameras
Deformation
Formability
Manipulators
Occlusion
Perception
Regularity
Robots
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and occlusion in vision-based perception. In this work, we address such a problem with a setup involving both an active camera and an object manipulator. Our approach is based on a sequential decision-making framework and explicitly considers the motion regularity and structure in coupling the camera and manipulator. We contribute a method for constructing and computing a subspace, called Dynamic Active Vision Space (DAVS), for effectively utilizing the regularity in motion exploration. The effectiveness of the framework and approach are validated in both a simulation and a real dual-arm robot setup. Our results confirm the necessity of an active camera and coordinative motion in interactive perception for deformable objects.
ISSN:2331-8422