Challenges and Outlook in Robotic Manipulation of Deformable Objects

Jihong Zhu; Andrea Cherubini; Claire Dune; David Navarro-Alarcon; Farshid Alambeigi; Dmitry Berenson; Fanny Ficuciello; Kensuke Harada; Jens Kober; Xiang LI; Jia Pan; Wenzhen Yuan; Michael Gienger

doi:10.1109/MRA.2022.3147415

Challenges and Outlook in Robotic Manipulation of Deformable Objects

Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Jens Kober, Xiang LI, Jia Pan, Wenzhen Yuan, Michael Gienger

Research output: Journal article publication › Journal article › Academic research › peer-review

147 Citations (Scopus)

Abstract

Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and health-care sectors. However, compared to rigid object manipulation, the manipulation of deformable objects is considerably more complex and is still an open research problem. Addressing DOM challenges demands breakthroughs in almost all aspects of robotics: hardware design, sensing, (deformation) modeling, planning, and control. In this article, we review recent advances and highlight the main challenges when considering deformation in each subfield. A particular focus of our article lies in the discussions of these challenges and proposing future directions of research.

Original language	English
Pages (from-to)	67-77
Number of pages	11
Journal	IEEE Robotics and Automation Magazine
Volume	29
Issue number	3
DOIs	https://doi.org/10.1109/MRA.2022.3147415
Publication status	Published - 1 Sept 2022

Keywords

Grippers
Robot sensing systems
Robots
Sensors
Soft robotics
Strain
Task analysis

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

More information

10.1109/MRA.2022.3147415

http://hdl.handle.net/10397/99410

Cite this

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abstract = "Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and health-care sectors. However, compared to rigid object manipulation, the manipulation of deformable objects is considerably more complex and is still an open research problem. Addressing DOM challenges demands breakthroughs in almost all aspects of robotics: hardware design, sensing, (deformation) modeling, planning, and control. In this article, we review recent advances and highlight the main challenges when considering deformation in each subfield. A particular focus of our article lies in the discussions of these challenges and proposing future directions of research.",

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AU - Berenson, Dmitry

AU - Ficuciello, Fanny

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Challenges and Outlook in Robotic Manipulation of Deformable Objects

Abstract

Keywords

ASJC Scopus subject areas

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