Challenges and outlook in robotic manipulation of deformable objects
Deformable object manipulation (DOM) is an emerging research problem in robotics. The
ability to manipulate deformable objects endows robots with higher autonomy and promises …
ability to manipulate deformable objects endows robots with higher autonomy and promises …
Global model learning for large deformation control of elastic deformable linear objects: An efficient and adaptive approach
The robotic manipulation of deformable linear objects (DLOs) has broad application
prospects in many fields. However, a key issue is to obtain the exact deformation models (ie …
prospects in many fields. However, a key issue is to obtain the exact deformation models (ie …
Offline-online learning of deformation model for cable manipulation with graph neural networks
Manipulating deformable linear objects by robots has a wide range of applications, eg,
manufacturing and medical surgery. To complete such tasks, an accurate dynamics model …
manufacturing and medical surgery. To complete such tasks, an accurate dynamics model …
Contour moments based manipulation of composite rigid-deformable objects with finite time model estimation and shape/position control
The robotic manipulation of composite rigid-deformable objects (ie, those with mixed
nonhomogeneous stiffness properties) is a challenging problem with clear practical …
nonhomogeneous stiffness properties) is a challenging problem with clear practical …
LaSeSOM: A latent and semantic representation framework for soft object manipulation
Soft object manipulation has recently gained popularity within the robotics community due to
its potential applications in many economically important areas. Although great progress has …
its potential applications in many economically important areas. Although great progress has …
As-rigid-as-possible shape servoing
M Shetab-Bushehri, M Aranda… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
Shape servoing is the problem of controlling the shape of a deformable object via robotic
manipulation, exploiting sensory feedback. In many shape servoing scenarios of practical …
manipulation, exploiting sensory feedback. In many shape servoing scenarios of practical …
Keypoint-based planar bimanual sha** of deformable linear objects under environmental constraints with hierarchical action framework
This letter addresses the problem of contact-based manipulation of deformable linear
objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the …
objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the …
Lageo: a latent and geometrical framework for path and manipulation planning
P Zhou - 2022 - theses.lib.polyu.edu.hk
Path and manipulation planning has been gaining popularity within the robotics community
all the time due to its potential applications in many economically important applications. In …
all the time due to its potential applications in many economically important applications. In …
Towards latent space based manipulation of elastic rods using autoencoder models and robust centerline extractions
The automatic shape control of deformable objects is a challenging (and currently hot)
manipulation problem due to their high-dimensional geometric features and complex …
manipulation problem due to their high-dimensional geometric features and complex …
Robotic co-manipulation of deformable linear objects for large deformation tasks
This research addresses the challenge of large/complex deformation in the shape control
tasks of Deformable Linear Objects (DLO). We propose a collaborative approach using two …
tasks of Deformable Linear Objects (DLO). We propose a collaborative approach using two …