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...

Many tasks in robot-assisted surgery, food handling, manufacturing, and other applications require planning and controlling the motions of manipulators or other devices that must interact with highly deformable objects. We present a unified approach for motion planning under uncertainty in deformable environments that maximizes probability of success by accounting for uncertainty in deformation...

A static analysis of deformable object grasping based on bounded force closure is presented. There are many manipulative operations that deal with deformable objects in manufacturing processes. Manipulative operations for these objects are often performed by utilizing their deformation actively while the operations may result in failure because of unexpected deformation of the objects during th...

This paper proposes a non-self-intersecting multiscale deformable surface model with an adaptive remeshing capability. The model is specifically designed to extract the three-dimensional boundaries of topologically simple but geometrically complex anatomical structures, especially those with deep concavities such as the brain, from volumetric medical images. The model successfully addresses thr...

This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead explicitly defining the features by geometries or functions, robot automatically learns visual from processed vision data. Our method simultaneously generates – same data both and interaction matrix that relates them to control inputs. Extraction feature vector commands is...

This article gives an overview of the Electric Energy Storage (EES) library, which is proposed for inclusion in the Modelica Standard Library. The library contains models with different complexity for simulating of electric energy storages like batteries (single cells as well as stacks) interacting with loads, battery management systems and charging devices. It is shown how the models are defin...

Contrary to common modular approach of dialogue systems, we want to design a uniform framework for interpretation of natural language sentences in practical dialogue situations. We make the assumption that all the knowledge necessary to carry out the process of interpretation is contained in rules acting on several storages of different topologies. This model is designed in order to achieve ext...