State estimation and tracking of deforming planar elastic rods

Andy Borum, Dennis Matthews, Timothy Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we address the problem of estimating the shape of a planar elastic rod (e.g., a thin flexible strip of metal) using images of the rod. This is done by treating configurations of the elastic rod as solutions of a geometric optimal control problem. The necessary conditions for optimality provide coordinates over which to perform inference, and the sufficient conditions provide the gradient of the shape of the rod with respect to these coordinates. This optimal control formulation allows for configurations of the rod to be represented as points in a finite-dimensional space without having to discretize the shape of the rod. We consider the estimation problem with and without fiducial markers attached to the rod. Results from both simulations and hardware experiments demonstrate the ability of our approach to track the shape of a deforming elastic rod.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4127-4132
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period5/31/146/7/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'State estimation and tracking of deforming planar elastic rods'. Together they form a unique fingerprint.

Cite this