相关论文: Multi-Robot Assembly of Deformable Linear Objects …

Long-horizon routing tasks of deformable linear objects (DLOs), such as cables and ropes, are common in industrial assembly lines and everyday life. These tasks are particularly challenging because they require robots to manipulate DLO with…

In the field of robotics and automation, conventional object recognition and instance segmentation methods face a formidable challenge when it comes to perceiving Deformable Linear Objects (DLOs) like wires, cables, and flexible tubes. This…

Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the existence of some initial conditions. To the best of our…

The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…

Robotic manipulation of deformable linear objects (DLOs) has great potential for applications in diverse fields such as agriculture or industry. However, a major challenge lies in acquiring accurate deformation models that describe the…

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…

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…

Accurately predicting deformable linear object (DLO) dynamics is challenging, especially when the task requires a model that is both human-interpretable and computationally efficient. In this work, we draw inspiration from the pseudo-rigid…

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…

In this paper, we consider the problem of understanding the physical properties of unseen objects through interactions between the objects and a robot. Handling unseen objects with special properties such as deformability is challenging for…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

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…

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…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

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…

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…

This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…

We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…