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   Articles with "deformable objects" as a keyword



A planning and execution framework for robotic assembly with deformable objects using a centralized database based on the Rαβγ categorization

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recommendations! Published in 2025 at "Journal of Intelligent Manufacturing"

DOI: 10.1007/s10845-025-02578-5

Abstract: Automation of process planning and execution of robotic assembly can lead to process optimization and shorter setup times. Several such automation frameworks have been developed for the assembly of rigid objects. However, many products require… read more here.

Keywords: deformable objects; process; execution; assembly deformable ... See more keywords

Stable Real-Time Surgical Cutting Simulation of Deformable Objects Embedded with Arbitrary Triangular Meshes

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recommendations! Published in 2017 at "Journal of Computer Science and Technology"

DOI: 10.1007/s11390-017-1794-z

Abstract: Surgical simulators need to simulate deformation and cutting of deformable objects. Adaptive octree mesh based cutting methods embed the deformable objects into octree meshes that are recursively refined near the cutting tool trajectory. Deformation is… read more here.

Keywords: octree meshes; stable real; arbitrary triangular; deformable objects ... See more keywords

A simple assembly planner for the insertion of ring-shaped deformable objects

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recommendations! Published in 2018 at "Assembly Automation"

DOI: 10.1108/aa-12-2016-181

Abstract: Purpose The aim of this work is to develop a simple planner that is able to automatically plan the motion for a dual-arm manipulator that assembles a ring-shaped elastic object into a cylinder. Moreover, it… read more here.

Keywords: assembly planner; simple assembly; deformable objects; ring ... See more keywords

Design and Test of a Curved-Beam Based Compliant Gripper for Manipulations of Actively Deformable Objects

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recommendations! Published in 2022 at "IEEE Access"

DOI: 10.1109/access.2022.3210221

Abstract: Sizes and stiffness variations of actively deformable objects pose significant challenges on the design of compliant constant-force gripper. This paper presents a curved-beam based constant force compliant gripper which is composed of the constant force… read more here.

Keywords: constant force; deformable objects; beam based; actively deformable ... See more keywords

Benchmark for Bimanual Robotic Manipulation of Semi-Deformable Objects

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recommendations! Published in 2020 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2020.2972837

Abstract: We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects. The benchmark is inspired from two real-world applications: (a) watchmaking craftsmanship, and (b) belt assembly in automobile engines. We provide… read more here.

Keywords: semi deformable; deformable objects; bimanual robotic; robotic manipulation ... See more keywords

Bimanual Handling of Deformable Objects With Hybrid Adhesion

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3158231

Abstract: We present hybrid adhesive end-effectors for bimanual handling of deformable objects. The gripping system is driven by the need to achieve alignment on deformable and irregular surfaces while maintaining a large area of contact for… read more here.

Keywords: handling deformable; adhesion; gripping system; deformable objects ... See more keywords

Design of a Soft Gripper With Improved Microfluidic Tactile Sensors for Classification of Deformable Objects

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3158440

Abstract: Tactile object recognition is vital for robotic handling systems; however, existing technologies that concentrate on tactile sensors with high modulus are not suitable for soft grippers to classify deformable objects. In this letter, we integrated… read more here.

Keywords: tactile sensors; microfluidic tactile; deformable objects; soft gripper ... See more keywords

DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects

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recommendations! Published in 2022 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2022.3158725

Abstract: Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp strategies for such objects is uniquely challenging.… read more here.

Keywords: grasp outcomes; physics; deformable objects; based simulation ... See more keywords
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Interaction Control for Tool Manipulation on Deformable Objects Using Tactile Feedback

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recommendations! Published in 2023 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2023.3257680

Abstract: The human sense of touch enables us to perform delicate tasks on deformable objects and/or in a vision-denied environment. To achieve similar desirable interactions for robots, such as administering a swab test, tactile information sensed… read more here.

Keywords: tactile; interaction; tool; contact ... See more keywords

PokeFlex: A Real-World Dataset of Volumetric Deformable Objects for Robotics

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recommendations! Published in 2024 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2025.3600148

Abstract: Data-driven methods have shown great potential in solving challenging manipulation tasks; however, their application in the domain of deformable objects has been constrained, in part, by the lack of data. To address this lack, we… read more here.

Keywords: deformable objects; robotics; dataset; real world ... See more keywords

Soft Contact Simulation and Manipulation Learning of Deformable Objects With Vision-Based Tactile Sensor

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recommendations! Published in 2025 at "IEEE Transactions on Automation Science and Engineering"

DOI: 10.1109/tase.2025.3582341

Abstract: Deformable object manipulation is a challenging problem due to its complex deformable properties. With the development of artificial intelligence, learning-based methods have shown outstanding performance in robotic manipulation. Previous works have investigated the manipulation of… read more here.

Keywords: deformable objects; based tactile; vision based; simulation ... See more keywords