We present a survey of recent work on robot manipulation and sensing of deformable
objects, a field with relevant applications in diverse industries such as medicine (eg surgical …

Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the
robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level …

In this paper, we address the problem of manipulating deformable objects such as ropes.
Starting with an RGB-D view of a tangled rope, our goal is to infer its knot structure and then …

Due to the pandemic, the labor crisis, and the growing demand for safety and quality
pharmaceutical businesses are increasingly using robots. This development may be …

In the present paper, we propose a method for in-air knotting by a dual-arm, multi-finger
robot. Most previous studies about knotting by robots assume that the rope is placed on a …

From ancient times, humans have been using cables and ropes to tie, carry, and manipulate
objects by folding knots. However, automating knot folding is challenging because it …

This paper discusses a motion planning method for assembling a ring-shaped elastic part to
a cylindrical part by using a dual-arm manipulator. When assembling a ring-shaped elastic …

This paper describes a method for generating hand trajectories for a robot to enable it to
place a rope on a table in a target shape. In many aspects of rope-work, eg, making knots …

The manipulation of deformable linear objects is a hot spot and difficult problem in robotics
research. Cables, as one kind of deformable linear objects, are characterized by elongation …

The robotic manipulation of a heavy industrial cable is challenging to model and control
because of the high number of degrees of freedom and the rigid-flexible coupling dynamics …