相关论文: HANDLOOM: Learned Tracing of One-Dimensional Objec…

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…

The shape control of deformable linear objects (DLOs) is challenging, since it is difficult to obtain the deformation models. Previous studies often approximate the models in purely offline or online ways. In this paper, we propose a scheme…

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…

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…

Robotic manipulation of deformable linear objects (DLOs) presents significant challenges due to complex dynamics and frequent self-occlusions. Existing robotic knot tying methods typically rely on precise topological state tracking with…

With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…

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…

Accurately and robustly estimating the state of deformable linear objects (DLOs), such as ropes and wires, is crucial for DLO manipulation and other applications. However, it remains a challenging open issue due to the high dimensionality…

Manipulating deformable objects, such as ropes and clothing, is a long-standing challenge in robotics, because of their large degrees of freedom, complex non-linear dynamics, and self-occlusion in visual perception. The key difficulty is a…

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…

Robotic manipulation of deformable, one-dimensional objects (DOOs) like ropes or cables has important potential applications in manufacturing, agriculture, and surgery. In such environments, the task may involve threading through or…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the development of manipulation algorithms. The existing grasp and…

This paper presents a fast and accurate model of a deformable linear object (DLO) -- e.g., a rope, wire, or cable -- integrated into an established robot physics simulator, MuJoCo. Most accurate DLO models with low computational times exist…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…

Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing novel uncertainty quantification metrics and actions that…

We study the problem of learning to perform multi-stage robotic manipulation tasks, with applications to cable routing, where the robot must route a cable through a series of clips. This setting presents challenges representative of complex…

Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel…

We develop a system for modeling hand-object interactions in 3D from RGB images that show a hand which is holding a novel object from a known category. We design a Convolutional Neural Network (CNN) for Hand-held Object Pose and Shape…