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Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are…

Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…

Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome…

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 (i.e., how robot motion affects DLO deformation), which are hard to…

This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

We propose a framework for deformable linear object prediction. Prediction of deformable objects (e.g., rope) is challenging due to their non-linear dynamics and infinite-dimensional configuration spaces. By mapping the dynamics from a…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

Flexible sensors are increasingly employed in soft robotics and wearable devices to provide proprioception of freeform deformations.Although supervised learning can train shape predictors from sensor signals, prediction accuracy strongly…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…

In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…

The aim of this article is to introduce a new methodology for constructing morphings between shapes that have identical topology. The morphings are obtained by deforming a reference shape, through the resolution of a sequence of linear…

Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…

In this article, we address the problem of computing adaptive sensorimotor models that can be used for guiding the motion of robotic systems with uncertain action-to-perception relations. The formulation of the uncalibrated sensor-based…

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…

The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reconstruct the shape, proprioceptive techniques use built-in…

Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…