Related papers: Real-time Contact State Estimation in Shape Contro…
This paper investigates a framework (CATCH-FORM-3D) for the precise contact force control and surface deformation regulation in viscoelastic material manipulation. A partial differential equation (PDE) is proposed to model the…
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…
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…
We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
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…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature based on the specific task to globally describe the…
Evaluation of grasps on deformable 3D objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…
If robots could reliably manipulate the shape of 3D deformable objects, they could find applications in fields ranging from home care to warehouse fulfillment to surgical assistance. Analytic models of elastic, 3D deformable objects require…
Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…
This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…
In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a lattice around the object, binding the object to the lattice,…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…