相关论文: T-DOM: A Taxonomy for Robotic Manipulation of Defo…
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…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion types, and 3) provide a path to…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite 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…
The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces a novel approach to Deformable Object Manipulation (DOM) by…
Identification of textile properties is an important milestone toward advanced robotic manipulation tasks that consider interaction with clothing items such as assisted dressing, laundry folding, automated sewing, textile recycling and…
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible…
Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
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…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Legged robots can have a unique role in manipulating objects in dynamic, human-centric, or otherwise inaccessible environments. Although most legged robotics research to date typically focuses on traversing these challenging environments,…
Self-handover, transferring an object between one's own hands, is a common but understudied bimanual action. While it facilitates seamless transitions in complex tasks, the strategies underlying its execution remain largely unexplored.…
In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…
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…
Intricate behaviors an organism can exhibit is predicated on its ability to sense and effectively interpret complexities of its surroundings. Relevant information is often distributed between multiple modalities, and requires the organism…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-world demonstrations to train a manipulation policy for each…