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Modeling of Deformable Objects for Robotic Manipulation: A Tutorial and Review
Univ Nacl Autonoma Mexico, UNAM, Fac Sci, Dept Math, Mexico City, DF, Mexico..
Örebro Univ, Ctr Appl Autonomous Sensor Syst, Autonomous Mobile Manipulat Lab, Örebro, Sweden..
Univ Naples Federico II, PRISMA Lab, Dept Elect Engn & Informat Technol, Naples, Italy..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
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2020 (English)In: Frontiers in Robotics and AI, E-ISSN 2296-9144, Vol. 7, article id 82Article, review/survey (Refereed) Published
Abstract [en]

Manipulation of deformable objects has given rise to an important set of open problems in the field of robotics. Application areas include robotic surgery, household robotics, manufacturing, logistics, and agriculture, to name a few. Related research problems span modeling and estimation of an object's shape, estimation of an object's material properties, such as elasticity and plasticity, object tracking and state estimation during manipulation, and manipulation planning and control. In this survey article, we start by providing a tutorial on foundational aspects of models of shape and shape dynamics. We then use this as the basis for a review of existing work on learning and estimation of these models and on motion planning and control to achieve desired deformations. We also discuss potential future lines of work.

Place, publisher, year, edition, pages
Frontiers Media SA , 2020. Vol. 7, article id 82
Keywords [en]
deformable objects, shape representation, learning of deformation, control of deformable objects, registration of shape deformation, tracking of deformation
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-285746DOI: 10.3389/frobt.2020.00082ISI: 000576838200001PubMedID: 33501249Scopus ID: 2-s2.0-85091905373OAI: oai:DiVA.org:kth-285746DiVA, id: diva2:1500600
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QC 20201112

Available from: 2020-11-12 Created: 2020-11-12 Last updated: 2022-06-25Bibliographically approved

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Kragic, Danica

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Robotics, Perception and Learning, RPLCentre for Autonomous Systems, CAS
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