Image-based manipulation planning for nonrigid objects

Most current techniques for the robotic manipulation of nonrigid objects require the acquisition of detailed physical models prior to manipulation. In an effort to avoid the problems caused by such modeling, a three-phase paradigm based on human coordination studies has recently been reported. However, the vision-based model used to predict object motion depends on the the object's current shape, making manipulation planning difficult. In this paper, an alternative motion model for use in the three-phase framework is presented. Based on the novel concept of the cardinal spatial Jacobian, this new model is shape-independent while still requiring the use of no a priori physical object models.