Enhancing Deformable Object Manipulation By Using Interactive Perception and Assistive Tools
P Zhou - arXiv preprint arXiv:2311.09659, 2023 - arxiv.org
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 …
behind human capabilities due to the inherent characteristics of deformable objects. These …
Edo-net: Learning elastic properties of deformable objects from graph dynamics
We study the problem of learning graph dynamics of deformable objects that generalizes to
unknown physical properties. Our key insight is to leverage a latent representation of elastic …
unknown physical properties. Our key insight is to leverage a latent representation of elastic …
Robotic manipulation of deformable rope-like objects using differentiable compliant position-based dynamics
Robot manipulation of rope-like objects is an interesting problem with some critical
applications, such as autonomous robotic suturing. Solving for and controlling rope is …
applications, such as autonomous robotic suturing. Solving for and controlling rope is …
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy
Manipulating deformable objects remains a challenge within robotics due to the difficulties of
state estimation, long-horizon planning, and predicting how the object will deform given an …
state estimation, long-horizon planning, and predicting how the object will deform given an …
Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects
Robotic manipulation of deformable linear objects (DLOs) has great potential for
applications in diverse fields such as agriculture or industry. However, a major challenge …
applications in diverse fields such as agriculture or industry. However, a major challenge …
DeformNet: Latent Space Modeling and Dynamics Prediction for Deformable Object Manipulation
Manipulating deformable objects is a ubiquitous task in household environments,
demanding adequate representation and accurate dynamics prediction due to the objects' …
demanding adequate representation and accurate dynamics prediction due to the objects' …
Obstacle avoidance shape control of deformable linear objects with online parameters adaptation based on differentiable simulation
C Ying, K Yamazaki - ROBOMECH Journal, 2024 - Springer
The manipulation of deformable linear objects (DLOs) such as ropes, cables, and hoses by
robots has promising applications in various fields such as product assembly and surgical …
robots has promising applications in various fields such as product assembly and surgical …
Parameter identification and motion control for articulated rigid body robots using differentiable position-based dynamics
Simulation modeling of robots, objects, and environments is the backbone for all model-
based control and learning. It is leveraged broadly across dynamic programming and model …
based control and learning. It is leveraged broadly across dynamic programming and model …
Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects
Robotic manipulation of deformable linear objects (DLOs) has great potential for
applications in diverse fields such as agriculture or industry. However, a major challenge …
applications in diverse fields such as agriculture or industry. However, a major challenge …
Motion Generation for Shaping Deformable Linear Objects with Contact Avoidance Using Differentiable Simulation *
C Ying, K Yamazaki - 2023 IEEE International Conference on …, 2023 - ieeexplore.ieee.org
The manipulation of deformable linear objects (DLOs) by robots is challenging because of
the complexity of modeling DLO dynamics. Although previous studies generally employed …
the complexity of modeling DLO dynamics. Although previous studies generally employed …