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: Contribution to journal › Article › peer-review

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
Early online date	25 Feb 2022
DOIs	https://doi.org/10.1109/MRA.2022.3147415
Publication status	Published - 1 Sept 2022

Bibliographical note

Publisher Copyright:
© 1994-2011 IEEE.

Access to Document

10.1109/MRA.2022.3147415

Cite this

@article{c16bfc28b9094cd28d7f01fd59553b69,

title = "Challenges and Outlook in Robotic Manipulation of Deformable Objects",

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.",

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

note = "Publisher Copyright: {\textcopyright} 1994-2011 IEEE.",

year = "2022",

month = sep,

day = "1",

doi = "10.1109/MRA.2022.3147415",

language = "English",

volume = "29",

pages = "67--77",

journal = "IEEE Robotics and Automation Magazine",

issn = "1070-9932",

publisher = "IEEE",

number = "3",

}

TY - JOUR

T1 - Challenges and Outlook in Robotic Manipulation of Deformable Objects

AU - Zhu, Jihong

AU - Cherubini, Andrea

AU - Dune, Claire

AU - Navarro-Alarcon, David

AU - Alambeigi, Farshid

AU - Berenson, Dmitry

AU - Ficuciello, Fanny

AU - Harada, Kensuke

AU - Kober, Jens

AU - Li, Xiang

AU - Pan, Jia

AU - Yuan, Wenzhen

AU - Gienger, Michael

PY - 2022/9/1

Y1 - 2022/9/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85125327391&partnerID=8YFLogxK

U2 - 10.1109/MRA.2022.3147415

DO - 10.1109/MRA.2022.3147415

M3 - Article

AN - SCOPUS:85125327391

SN - 1070-9932

VL - 29

SP - 67

EP - 77

JO - IEEE Robotics and Automation Magazine

JF - IEEE Robotics and Automation Magazine

IS - 3

ER -

Challenges and Outlook in Robotic Manipulation of Deformable Objects

Abstract

Bibliographical note

Access to Document

Other files and links

Cite this