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 …

Edo-net: Learning elastic properties of deformable objects from graph dynamics

A Longhini, M Moletta, A Reichlin… - … on Robotics and …, 2023 - ieeexplore.ieee.org
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 …

Robotic manipulation of deformable rope-like objects using differentiable compliant position-based dynamics

F Liu, E Su, J Lu, M Li, MC Yip - IEEE Robotics and Automation …, 2023 - ieeexplore.ieee.org
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 …

SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy

A Bartsch, A Car, C Avra, AB Farimani - arXiv preprint arXiv:2403.10401, 2024 - arxiv.org
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 …

Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects

M Daniel, A Magassouba, M Aranda… - arXiv preprint arXiv …, 2023 - arxiv.org
Robotic manipulation of deformable linear objects (DLOs) has great potential for
applications in diverse fields such as agriculture or industry. However, a major challenge …

DeformNet: Latent Space Modeling and Dynamics Prediction for Deformable Object Manipulation

C Li, Z Ai, T Wu, X Li, W Ding, H Xu - arXiv preprint arXiv:2402.07648, 2024 - arxiv.org
Manipulating deformable objects is a ubiquitous task in household environments,
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 …

Parameter identification and motion control for articulated rigid body robots using differentiable position-based dynamics

F Liu, M Li, J Lu, E Su, MC Yip - arXiv preprint arXiv:2201.05753, 2022 - arxiv.org
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 …

Multi Actor-Critic DDPG for Robot Action Space Decomposition: A Framework to Control Large 3D Deformation of Soft Linear Objects

M Daniel, A Magassouba, M Aranda… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Robotic manipulation of deformable linear objects (DLOs) has great potential for
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 …