Hu, J. orcid.org/0000-0001-7394-5580, Jones, D., Dogar, M. et al. (1 more author) (2023) Occlusion-Robust Autonomous Robotic Manipulation of Human Soft Tissues With 3D Surface Feedback. IEEE Transactions on Robotics, 40. pp. 624-638. ISSN 1552-3098
Abstract
Robotic manipulation of 3D soft objects remains challenging in the industrial and medical fields. Various methods based on mechanical modelling, data-driven approaches or explicit feature tracking have been proposed. A unifying disadvantage of these methods is the high computational cost of simultaneous imaging processing, identification of mechanical properties, and motion planning, leading to a need for less computationally intensive methods. We propose a method for autonomous robotic manipulation with 3D surface feedback to solve these issues. First, we produce a deformation model of the manipulated object, which estimates the robots' movements by monitoring the displacement of surface points surrounding the manipulators. Then, we develop a 6-degree-of-freedom velocity controller to manipulate the grasped object to achieve a desired shape. We validate our approach through comparative simulations with existing methods and experiments using phantom and cadaveric soft tissues with the da Vinci Research Kit. The results demonstrate the robustness of the technique to occlusions and various materials. Compared to state-of-the-art linear and data-driven methods, our approach is more precise by 46.5% and 15.9% and saves 55.2% and 25.7% manipulation time, respectively.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Dual arm manipulation, robotic manipulation of soft objects, shape control |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Funding Information: | Funder Grant number EU - European Union 818045 EU - European Union 952118 EPSRC (Engineering and Physical Sciences Research Council) EP/R045291/1 EPSRC (Engineering and Physical Sciences Research Council) EP/V047914/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 20 Nov 2023 11:27 |
Last Modified: | 23 May 2024 14:51 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TRO.2023.3335693 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:205499 |