Related papers: Robotic Dough Shaping
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
We consider the problem of grasping deformable objects with soft shells using a robotic gripper. Such objects have a center-of-mass that changes dynamically and are fragile so prone to burst. Thus, it is difficult for robots to generate…
Manipulating deformable objects has long been a challenge in robotics due to its high dimensional state representation and complex dynamics. Recent success in deep reinforcement learning provides a promising direction for learning to…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
Object grasping is an important ability required for various robot tasks. In particular, tasks that require precise force adjustments during operation, such as grasping an unknown object or using a grasped tool, are difficult for humans to…
The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
Deformable object manipulation (DOM) with point clouds has great potential as non-rigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…
Soft robots offer more flexibility, compliance, and adaptability than traditional rigid robots. They are also typically lighter and cheaper to manufacture. However, their use in real-world applications is limited due to modeling challenges…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
Manipulating deformable objects remains a challenge within robotics due to the difficulties of state estimation, long-horizon planning, and predicting how the object will deform given an interaction. These challenges are the most pronounced…
Manipulation of deformable Linear objects (DLOs), including iron wire, rubber, silk, and nylon rope, is ubiquitous in daily life. These objects exhibit diverse physical properties, such as Young$'$s modulus and bending stiffness.Such…
This paper addresses the problem of contact-based manipulation of deformable linear objects (DLOs) towards desired shapes with a dual-arm robotic system. To alleviate the burden of high-dimensional continuous state-action spaces, we model…