On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper

On Robust Assembly of Flexible Flat Cables Combining CAD and Image Based Multiview Pose Estimation and a Multimodal Robotic Gripper

In robotic assembly of flexible flat cables (FFCs), a unique challenge is the inherent difficulty in manipulating such flexible objects compared to their rigid counterparts and the precise estimation of the cable pose. This work proposes a framework that combines object pose estimation using compute...

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Bibliographic Details
Main Authors: Junbang Liang, Joao Buzzatto, Bryan Busby, Haodan Jiang, Saori Matsunaga, Rintaro Haraguchi, Mariyama Toshisada, Bruce A. MacDonald, Minas Liarokapis
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Open Journal of the Industrial Electronics Society
Subjects:
Flexible object manipulation
multiview fusion
pose estimation
robotic assembly
Online Access:https://ieeexplore.ieee.org/document/10693648/
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