Abstract
The robotic manipulation of semi-deformable linear objects (SDLOs), such as cables featuring a connector, is currently a challenge. This work addresses the problem of inserting different kinds of non-symmetric connectors once the corresponding SDLO is grasped in proximity to its end, exploiting a dual-arm robot and an RGB in-hand camera. A vision algorithm is proposed to estimate the connector orientation, and a regrasping routine is introduced if a considerable reorientation has to be performed. The method has been experimentally validated by manipulating and inserting six different types of connectors.
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Acknowledgment
This work was supported by Progetto Prin 2020 “Co-Mir”, prot. 2020CMEFPK.
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Monguzzi, A., Malascorta, D., Zanchettin, A.M., Rocco, P. (2024). Estimation of the Orientation of the Connector for Dual-Arm Robotic Cable Manipulation. In: Secchi, C., Marconi, L. (eds) European Robotics Forum 2024. ERF 2024. Springer Proceedings in Advanced Robotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-76424-0_3
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DOI: https://doi.org/10.1007/978-3-031-76424-0_3
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