TY - GEN
T1 - State estimation and tracking of deforming planar elastic rods
AU - Borum, Andy
AU - Matthews, Dennis
AU - Bretl, Timothy
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/84929208209
UR - https://www.scopus.com/inward/citedby.url?scp=84929208209&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907459
DO - 10.1109/ICRA.2014.6907459
M3 - Conference contribution
AN - SCOPUS:84929208209
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4127
EP - 4132
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -