Adaptive tactile control for in-hand manipulation tasks of deformable objects

Robot Manipulation of Deformable Objects

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.

Symbolic level generalization of in-hand manipulation tasks from human demonstrations using tactile data information

This work intends to contribute to the development of autonomous dexterous robotic hands by presenting an approach to describe the mechanisms underlying the human strategies during the execution of in-hand manipulation tasks. The work proposes a symbolic decription of the inhand manipulation tasks. The in-hand manipulation tasks are demonstrated by a subject wearing an instrumented glove with a...

Knotting/Unknotting Manipulation of Deformable Linear Objects

Here, we propose a planning method for knotting/unknotting of deformable linear objects. First, we propose a topological description of the state of a linear object. Second, transitions between these states are defined by introducing four basic operations. Then, possible sequences of crossing state transitions, i.e. possible manipulation processes, can be generated once the initial and the obje...

A Learning Methodology for Robotic Manipulation of Deformable Objects

The majority of manipulation systems are designed with the assumption that the objects being handled are rigid and do not deform when grasped. This paper address the problem of robotic grasping and manipulation of 3D deformable objects, such as rubber balls or bags filled with sand. Specifically, we have developed a generalized learning algorithm for handling of 3-D deformable objects in which ...