Cui, Zhenxi, Lai, J., Lu, B. and Chu, H.K. (2025) Human-Led Robotic Transportation of Elastic Objects with Adaptive Control. In: 9th International Conference on Robotics and Automation Engineering (ICRAE), 5-17 Nov 2024, Singapore.

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Abstract

The perception and transportation of soft objects are critical tasks in daily life, and recent sensor advancements enable robots to safely perform these tasks in human-shared environments. This study advances elastic linear object transportation by introducing a collaborative framework where a human leads, providing task-specific instructions to guide the robot. Unlike conventional methods focused on fixed object manipulation, our approach dynamically controls and converges feature points of the elastic object into desired configurations during transportation. We developed an online model estimation technique using a least-squares optimization algorithm, with an exponential forgetting mechanism to adaptively update the model under disturbances from sensors and human interaction. Validated in experiments with a 6-DOF robot and depth camera, our method demonstrated robustness across varied scenarios, achieving faster convergence and reduced positional fluctuation compared to conventional gradient descent approaches

Item Type:	Conference or Workshop Item (Paper)
ISBN:	9798331518318
Identifier:	10.1109/ICRAE64368.2024.10851607
Page Range:	pp. 94-99
Identifier:	10.1109/ICRAE64368.2024.10851607
Subjects:	Construction and engineering
Depositing User:	Marc Forster
Date Deposited:	04 Mar 2025 10:51
Last Modified:	04 Mar 2025 10:51
URI:	https://repository.uwl.ac.uk/id/eprint/13295
Sustainable Development Goals:	Goal 9: Industry, Innovation, and Infrastructure

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