Survey on model-based manipulation planning of deformable objects

Survey on Model-based Manipulation Planning of Deformable Objects

A systematic overview on the subject of model-based manipulation planning of deformable objects is presented. Existing modelling techniques of volumetric, planar and linear deformable objects are described, emphasizing the different types of deformation. Planning strategies are categorized according to the type of manipulation goal: path planning, folding/unfolding, topology modifications and a...

Robust Manipulation of Deformable Objects Using Model Based Technique

Manipulation of deformable objects will be discussed. Manipulation of deformable objects is de ned as controlling deformation of objects as well as their positions and orientations. The manipulation is a fundamental and important task in many industrial elds. In fact, there exist many operations of deformable objects such as textile fabrics, rubber parts, paper sheets, strings, and foods. In or...

Robot Manipulation of Deformable Objects

Model-Driven Feed-Forward Prediction for Manipulation of Deformable Objects

Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track, and manipulate deformable objects. In this paper, we introduce a predictive, model-driven approach to address this challenge, using a pre-computed, simulated d...

Robust Grasping Manipulation of Deformable Objects

A simple but robust control law for the grasping manipulation of deformable objects is presented. In the handling of deformable objects, grasping and manipulation must be performed simultaneously despite uncertainties during the handling process. We will propose a control law to perform grasping and manipulation of deformable objects using a realtime vision system.