相关论文: Deformable Linear Object Surface Placement Using E…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

We demonstrate model-based, visual robot manipulation of linear deformable objects. Our approach is based on a state-space representation of the physical system that the robot aims to control. This choice has multiple advantages, including…

The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…

Dexterous multi-fingered hands can provide robots with the ability to flexibly perform a wide range of manipulation skills. However, many of the more complex behaviors are also notoriously difficult to control: Performing in-hand object…

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…

Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging under geometric uncertainties, e.g., when the object pose or…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

In this paper, we propose a deep reinforcement learning (DRL) solution to the grasping problem using 2.5D images as the only source of information. In particular, we developed a simulated environment where a robot equipped with a vacuum…

Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…

The motion of deformable 4D objects lies in a low-dimensional manifold. To better capture the low dimensionality and enable better controllability, traditional methods have devised several heuristic-based methods, i.e., rigging, for…

Teaching robots to fold, drape, or reposition deformable objects such as cloth will unlock a variety of automation applications. While remarkable progress has been made for rigid object manipulation, manipulating deformable objects poses…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…

We propose a new methodology to estimate the 3D displacement field of deformable objects from video sequences using standard monocular cameras. We solve in real time the complete (possibly visco-)hyperelasticity problem to properly describe…