Knot-tying with Visual and Force Feedback for VR Laparoscopic Training

Real-time simulation of thread and knot-tying with visual and force feedback is an essential part of virtual reality laparoscopic training. This paper presents a physics-based thread simulator that enables realistic knot tying at haptic rendering rate. The virtual thread follows Newton's law and behaves naturally. The model considers main mechanical properties of the real thread such as stretching, compressing, bending and twisting, as well as contact forces due to self-collision and interaction with the environment, and the effect of gravity. The structure of the system has essential advantages over geometrically based approaches, as was illustrated in an implementation on the Xitact simulator

MICADO: Models of Interactive Constraints for the Assembling of 1D Deformable Objects

This paper introduces a set of Lagrangian constraints, allowing most needed interaction and combinations of one-dimensional deformable elements for creating complex structures. The proposed tools can potentially be used with a large set of available 1D-models. All constraints formulation are compatible with linear, displacement-based, integration schemes. The proposed constraints allow for real-time complex structure simulation, and also novel interactions between simulated objects. Various examples are provided, illustrating the benefit of the proposed numerical tools

Survey on model-based manipulation planning of deformable objects

A systematic overview on the subject of model-based manipulation planning of deformable objects is presented. Existing modelling techniques of volumetric, planar and linear deformable objects are described, emphasizing the different types of deformation. Planning strategies are categorized according to the type of manipulation goal: path planning, folding/unfolding, topology modifications and assembly. Most current contributions fit naturally into these categories, and thus the presented algorithms constitute an adequate basis for future developments.Preprin

Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin

Stretching a pizza dough with a rolling pin is a nonprehensile manipulation. Since the object is deformable, force closure cannot be established, and the manipulation is carried out in a nonprehensile way. The framework of this pizza dough stretching application that is explained in this chapter consists of four sub-procedures: (i) recognition of the pizza dough on a plate, (ii) planning the necessary steps to shape the pizza dough to the desired form, (iii) path generation for a rolling pin to execute the output of the pizza dough planner, and (iv) inverse kinematics for the bi-manual robot to grasp and control the rolling pin properly. Using the deformable object model described in Chap. 3, each sub-procedure of the proposed framework is explained sequentially

Flexible Object Manipulation

Flexible objects are a challenge to manipulate. Their motions are hard to predict, and the high number of degrees of freedom makes sensing, control, and planning difficult. Additionally, they have more complex friction and contact issues than rigid bodies, and they may stretch and compress. In this thesis, I explore two major types of flexible materials: cloth and string. For rigid bodies, one of the most basic problems in manipulation is the development of immobilizing grasps. The same problem exists for flexible objects. I have shown that a simple polygonal piece of cloth can be fully immobilized by grasping all convex vertices and no more than one third of the concave vertices. I also explored simple manipulation methods that make use of gravity to reduce the number of fingers necessary for grasping. I have built a system for folding a T-shirt using a 4 DOF arm and a fixed-length iron bar which simulates two fingers. The main goal with string manipulation has been to tie knots without the use of any sensing. I have developed single-piece fixtures capable of tying knots in fishing line, solder, and wire, along with a more complex track-based system for autonomously tying a knot in steel wire. I have also developed a series of different fixtures that use compressed air to tie knots in string. Additionally, I have designed four-piece fixtures, which demonstrate a way to fully enclose a knot during the insertion process, while guaranteeing that extraction will always succeed

Bioinspired Simulation of Knotting Hagfish via Thigmotaxic Inverse Dynamics

Hagfishes are capable of not only forming knots, but also sliding them along the length of their bodies. This remarkable behavior is used by the animal for a wide variety of purposes, such as feeding and manipulation. Clearly of interest to biologists, this knotting behavior is also relevant to other fields, such as bioinspired soft robotics. However, this knot-sliding behavior has been challenging to model and has not been simulated on a computer. In this thesis, we present the first physics-based simulation of the knot-sliding behavior of hagfish. We show that a contact-based inverse dynamics approach works well for this challenging control problem, motivated by the biological concept called "positive thigmotaxis," the characteristics of organisms to be in direct contact with other objects in the local environment

Quadrotor team modeling and control for DLO transportation

94 p.Esta Tesis realiza una propuesta de un modelado dinámico para el transporte de sólidos lineales deformables (SLD) mediante un equipo de cuadricópteros. En este modelo intervienen tres factores: - Modelado dinámico del sólido lineal a transportar. - Modelo dinámico del cuadricóptero para que tenga en cuenta la dinámica pasiva y los efectos del SLD. - Estrategia de control para un transporte e ciente y robusto. Diferenciamos dos tareas principales: (a) lograr una con guración cuasiestacionaria de una distribución de carga equivalente a transportar entre todos los robots. (b) Ejecutar el transporte en un plano horizontal de todo el sistema. El transporte se realiza mediante una con guración de seguir al líder en columna, pero los cuadricópteros individualmente tienen que ser su cientemente robustos para afrontar todas las no-linealidades provocadas por la dinámica del SLD y perturbaciones externas, como el viento. Los controladores del cuadricóptero se han diseñado para asegurar la estabilidad del sistema y una rápida convergencia del sistema. Se han comparado y testeado estrategias de control en tiempo real y no-real para comprobar la bondad y capacidad de ajuste a las condiciones dinámicas cambiantes del sistema. También se ha estudiado la escalabilidad del sistema

Tangled physics: Knots strain intuitive physical reasoning

Whereas decades of research have cataloged striking errors in physical reasoning, a resurgence of interest in intuitive physics has revealed humans’ remarkable ability to successfully predict the unfolding of physical scenes. A leading interpretation intended to resolve these opposing results is that physical reasoning recruits a general-purpose mechanism that reliably models physical scenarios (explaining recent successes), but overly contrived tasks or impoverished and ecologically invalid stimuli can produce poor performance (accounting for earlier failures). But might there be tasks that persistently strain physical understanding, even in naturalistic contexts? Here, we explore this question by introducing a new intuitive physics task: evaluating the strength of knots and tangles. Knots are ubiquitous across cultures and time-periods, and evaluating them correctly often spells the difference between safety and peril. Despite this, 5 experiments show that observers fail to discern even very large differences in strength between knots. In a series of two-alternative forced-choice tasks, observers viewed a variety of simple “bends” (knots joining two pieces of thread) and decided which would require more force to undo. Though the strength of these knots is well-documented, observers’ judgments completely failed to reflect these distinctions, across naturalistic photographs (E1), idealized renderings (E2), dynamic videos (E3), and even when accompanied by schematic diagrams of the knots’ structures (E4). Moreover, these failures persisted despite accurate identification of the topological differences between the knots (E5); in other words, even when observers correctly perceived the underlying structure of the knot, they failed to correctly judge its strength. These results expose a blindspot in physical reasoning, placing new constraints on general-purpose theories of scene understanding