Related papers: Planning and Reasoning with 3D Deformable Objects …
Robotic manipulation of volumetric elastoplastic deformable materials, from foods such as dough to construction materials like clay, is in its infancy, largely due to the difficulty of modelling and perception in a high-dimensional space.…
Can robots mold soft plastic materials by shaping depth images? The short answer is no: current day robots can't. In this article, we address the problem of shaping plastic material with an anthropomorphic arm/hand robot, which observes the…
Long-horizon planning for robot manipulation is a challenging problem that requires reasoning about the effects of a sequence of actions on a physical 3D scene. While traditional task planning methods are shown to be effective for…
Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics and high-dimensional configuration spaces of deformables, compared to rigid…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Deformable linear objects (DLOs) manipulation presents significant challenges due to DLOs' inherent high-dimensional state space and complex deformation dynamics. The wide-populated obstacles in realistic workspaces further complicate DLO…
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…
Representing 3D shape in deep learning frameworks in an accurate, efficient and compact manner still remains an open challenge. Most existing work addresses this issue by employing voxel-based representations. While these approaches benefit…
This paper focuses on motion prediction for point cloud sequences in the challenging case of deformable 3D objects, such as human body motion. First, we investigate the challenges caused by deformable shapes and complex motions present in…
Robots operating in human environments must be able to rearrange objects into semantically-meaningful configurations, even if these objects are previously unseen. In this work, we focus on the problem of building physically-valid structures…
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…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
For designing a wide range of everyday objects, the design process should be aware of both the human body and the underlying semantics of the design specification. However, these two objectives present significant challenges to the current…
The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…
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,…
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…
Pottery creation is a complicated art form that requires dexterous, precise and delicate actions to slowly morph a block of clay to a meaningful, and often useful 3D goal shape. In this work, we aim to create a robotic system that can…
Reorienting objects by using supports is a practical yet challenging manipulation task. Owing to the intricate geometry of objects and the constrained feasible motions of the robot, multiple manipulation steps are required for object…