Challenges and Outlook in Robotic Manipulation of Deformable Objects - COSMER Accéder directement au contenu
Article Dans Une Revue IEEE Robotics and Automation Magazine Année : 2022

Challenges and Outlook in Robotic Manipulation of Deformable Objects

Résumé

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 healthcare 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 demand breakthroughs in almost all aspects of robotics, namely 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 sub-field. A particular focus of our paper lies in the discussions of these challenges and proposing future directions of research.
Fichier principal
Vignette du fichier
2105.01767.pdf (22.07 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03483491 , version 1 (16-12-2021)

Identifiants

Citer

Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, et al.. Challenges and Outlook in Robotic Manipulation of Deformable Objects. IEEE Robotics and Automation Magazine, 2022, 29 (3), pp.67-77. ⟨10.1109/MRA.2022.3147415⟩. ⟨hal-03483491⟩
204 Consultations
144 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More