TY - GEN
T1 - Vision Guided Cable Installation in Constraint Environments Utilizing Parametric Curve Representation
AU - Jiang, Xin
AU - Wei, Huangtao
AU - Liu, Zhitong
AU - Liao, Wenxi
AU - Ran, Wei
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - In this paper, a vision-based method is proposed for cable installation tasks in constrained environments. The main challenge of such tasks lies in the potential interference between the cable and surrounding obstacles. Model-based approaches are not well-suited for these industrial scenarios due to variations in the physical properties of workpieces. To address this, the proposed method integrates a potential field-based tip trajectory regulation with a shape deformation servo. In the shape deformation servo, a planner is employed to determine a feasible shape curve that avoids obstacles. This step is crucial, as an infeasible reference for shape control may result in unstable behavior. The effectiveness of the proposed method is validated through experiments. Notably, this approach does not rely on prior model information, making it highly adaptable for industrial deployment.
AB - In this paper, a vision-based method is proposed for cable installation tasks in constrained environments. The main challenge of such tasks lies in the potential interference between the cable and surrounding obstacles. Model-based approaches are not well-suited for these industrial scenarios due to variations in the physical properties of workpieces. To address this, the proposed method integrates a potential field-based tip trajectory regulation with a shape deformation servo. In the shape deformation servo, a planner is employed to determine a feasible shape curve that avoids obstacles. This step is crucial, as an infeasible reference for shape control may result in unstable behavior. The effectiveness of the proposed method is validated through experiments. Notably, this approach does not rely on prior model information, making it highly adaptable for industrial deployment.
UR - https://www.scopus.com/pages/publications/105029972788
U2 - 10.1109/IROS60139.2025.11247716
DO - 10.1109/IROS60139.2025.11247716
M3 - 会议稿件
AN - SCOPUS:105029972788
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1418
EP - 1424
BT - IROS 2025 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, Conference Proceedings
A2 - Laugier, Christian
A2 - Renzaglia, Alessandro
A2 - Atanasov, Nikolay
A2 - Birchfield, Stan
A2 - Cielniak, Grzegorz
A2 - De Mattos, Leonardo
A2 - Fiorini, Laura
A2 - Giguere, Philippe
A2 - Hashimoto, Kenji
A2 - Ibanez-Guzman, Javier
A2 - Kamegawa, Tetsushi
A2 - Lee, Jinoh
A2 - Loianno, Giuseppe
A2 - Luck, Kevin
A2 - Maruyama, Hisataka
A2 - Martinet, Philippe
A2 - Moradi, Hadi
A2 - Nunes, Urbano
A2 - Pettre, Julien
A2 - Pretto, Alberto
A2 - Ranzani, Tommaso
A2 - Ronnau, Arne
A2 - Rossi, Silvia
A2 - Rouse, Elliott
A2 - Ruggiero, Fabio
A2 - Simonin, Olivier
A2 - Wang, Danwei
A2 - Yang, Ming
A2 - Yoshida, Eiichi
A2 - Zhao, Huijing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025
Y2 - 19 October 2025 through 25 October 2025
ER -