Manipulation of deformable objects has given rise to an important set of open problems in
the field of robotics. Application areas include robotic surgery, household robotics …

Perceiving and handling deformable objects is an integral part of everyday life for humans.
Automating tasks such as food handling, garment sorting, or assistive dressing requires …

We present a method to manipulate deformable objects that does not require modeling and
simulating deformation. Our method is based on the concept of diminishing rigidity, which …

Deformable object manipulation (DOM) is an emerging research problem in robotics. The
ability to manipulate deformable objects endows robots with higher autonomy and promises …

We present a framework for deformable object manipulation that interleaves planning and
control, enabling complex manipulation tasks without relying on high-fidelity modeling or …

In this article, we present the Yale-Carnegie Mellon University (CMU)-Berkeley (YCB) object
and model set, intended to be used to facilitate benchmarking in robotic manipulation …

This paper describes an adaptable system which is able to perform manipulation operations
(such as Peg-in-Hole or Laying-Down actions) with flexible objects. As such objects easily …

In this paper, we present a new feedback method to automatically servo-control the 3-D
shape of soft objects with robotic manipulators. The soft object manipulation problem has …

In this paper we present the Yale-CMU-Berkeley (YCB) Object and Model set, intended to be
used to facilitate benchmarking in robotic manipulation, prosthetic design and rehabilitation …

We describe the modeling of linear object deformation based on differential geometry and its
applications to manipulative operations. A particle-based approach, the finite element …