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Factor Graph Approach for 3D Force Estimation in Dual-Arm Cable Manipulation
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Annika Delucchi and co-authors published a paper proposing probabilistic modeling of flexible cables manipulated by dual arms using factor graphs, estimating the magnitude, direction, and location of three-dimensional forces acting on the cable while reconstructing the cable's shape. Because cables are thin and unactuated, strain gauges and actuation readings are generally not applicable; the method uses only one type of sensing information and performs force estimation in simulation tests that include measurement noise and cable motion along a specified path. The authors state that this general method can be applied to a broader range of tasks.
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- Factor-Graph-Based 3D Force Estimation for Dual-Arm Manipulation of Flexible Cables
This study proposes using factor graphs to probabilistically model deformable linear objects (DLOs), estimating the magnitude, direction, and location of 3D forces acting on them while simultaneously reconstructing the cable's shape. Because cables are thin and unactuated, strain gauges and actuation readings are generally impractical; the method uses only one type of sensing information and performs force estimation in simulation tests that add measurement noise and have the cable move along a prescribed path. The authors state that this general method can apply to a broader range of tasks.
arXiv cs.RO ·