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Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data

Boonvisut, Pasu
http://rave.ohiolink.edu/etdc/view?acc_num=case1369078402

Abstract Details

2013, Doctor of Philosophy, Case Western Reserve University, EECS - System and Control Engineering.
Robotic motion planning algorithms for manipulation of deformable objects, such as in medical robotics applications, rely on accurate estimations of object deformations that occur during manipulation. An estimation of the tissue response, in turn, requires knowledge of both object constitutive parameters and boundary constraints. In this study, novel algorithms for estimating mechanical parameters and boundary constraints of deformable objects from robotic manipulation data are presented. The proposed algorithms use tissue deformation data collected from robotic perception and compares with deformation estimates obtained using finite element models. Specifically, the algorithm for estimation of the constitutive parameters uses an inverse finite element method, while the algorithm for boundary constraint estimation employs a multi-stage hill climbing procedure. An active exploration technique, which uses an information maximization approach, is also proposed to extend the identification algorithm. The effects of uncertainties on the proposed methods are analyzed in simulation. The results of experimental evaluation of the methods are also presented.
Murat Çavusoglu, Ph.D. (Advisor)
Vira Chankong, Ph.D. (Committee Member)
Wyatt Newman, Ph.D. (Committee Member)
Roger Quinn, Ph.D. (Committee Member)
85 p.
Materials Science; Robotics; Robots; Surgery
Boundary Constraints; Parameter Estimation; Deformable Object; FEM; Hill-Climbing; Active Exploration; Medical Surgical Simulation; Robotic Manipulation

Recommended Citations

Citations

  • Boonvisut, P. (2013). Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1369078402

    APA Style (7th edition)

  • Boonvisut, Pasu. Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data. 2013. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1369078402.

    MLA Style (8th edition)

  • Boonvisut, Pasu. "Active Exploration of Deformable Object Boundary Constraints and Material Parameters Through Robotic Manipulation Data." Doctoral dissertation, Case Western Reserve University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1369078402

    Chicago Manual of Style (17th edition)

case1369078402
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© 2013, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.