Vision-based manipulation of deformable and rigid objects using subspace projections of 2D contours

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

Classifier-based Contour Tracking for Rigid and Deformable Objects

This paper proposes a machine learning approach to the problem of modelbased contour tracking for rigid or deformable objects. The motion of the target is calculated by tracking its contours in a video sequence. We develop a probabilistic representation of contours that allows robust contour tracking in presence of texture and clutter. We use boosting to train a predictor of the conditional pro...

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 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.