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Learning force-based manipulation of deformable objects from multiple demonstrations

Alex X. Lee, Henry Lu, Abhishek Gupta, Sergey Levine, Pieter Abbeel
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
We present a method for learning force-based manipulation skills from demonstrations.  ...  Manipulation of deformable objects often requires a robot to apply specific forces to bring the object into the desired configuration.  ...  Learning from demonstration has proven to be a successful approach for manipulating deformable objects [1] , but transferring forces from a demonstration to a new situation poses some unique challenges  ... 
doi:10.1109/icra.2015.7138997 dblp:conf/icra/LeeLGLA15 fatcat:xi4zczizxrbu5jgtkvr5j7cyqq

Modeling, learning, perception, and control methods for deformable object manipulation

Hang Yin, Anastasia Varava, Danica Kragic
2021 Science Robotics  
of deformable objects.  ...  Perceiving and handling deformable objects is an integral part of everyday life for humans.  ...  For imitation learning, demonstrating the manipulation of deformable objects often involves multiple manipulators, end effectors, and the coordination among them.  ... 
doi:10.1126/scirobotics.abd8803 pmid:34043538 fatcat:3q54vpiprrcsnpffmbduj3fjrm

Challenges and Outlook in Robotic Manipulation of Deformable Objects [article]

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 (+1 others)
2021 arXiv   pre-print
However, compared to rigid object manipulation, the manipulation of deformable objects is considerably more complex, and is still an open research problem.  ...  Deformable object manipulation (DOM) is an emerging research problem in robotics.  ...  With Learning from Demonstration (LfD), the robot can be trained to manipulate deformable objects by an expert (usually a human).  ... 
arXiv:2105.01767v2 fatcat:sap4adixnzf77gzsiy3q5tq5ni

Manipulation Motion Taxonomy and Coding for Robots [article]

David Paulius, Yongqiang Huang, Jason Meloncon, Yu Sun
2019 arXiv   pre-print
This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion  ...  types, and 3) provide a path to transferring learned manipulations to new unlearned manipulations.  ...  ACKNOWLEDGEMENT This material is based upon work supported by the National Science Foundation under Grants No. 1421418 and 1560761.  ... 
arXiv:1910.00532v1 fatcat:f24m4xzqozb5fnhgqfealbtuwy

Multi-Modal Sensing and Robotic Manipulation of Non-Rigid Objects: A Survey

Félix Nadon, Angel Valencia, Pierre Payeur
2018 Robotics  
Formal representations considered to predict the deformation resulting from manipulation of non-rigid objects are then investigated.  ...  This paper aims to provide a comprehensive survey of recent advancements in modelling and autonomous manipulation of non-rigid objects.  ...  [102] presented a method for learning force-based manipulation "skills" from multiple demonstrations.  ... 
doi:10.3390/robotics7040074 fatcat:iqztgxmo5vezzdwkjtpn5zvdr4

Feature Sensing and Robotic Grasping of Objects with Uncertain Information: A Review

Chao Wang, Xuehe Zhang, Xizhe Zang, Yubin Liu, Guanwen Ding, Wenxin Yin, Jie Zhao
2020 Sensors  
In particular, we focus on how the robot perceives the features of an object, so as to reduce the uncertainty of objects, and how the robot completes object grasping through the learning-based approach  ...  Furthermore, the approaches to the feature sensing and robotic grasping of these objects are presented based on the varied characteristics of each type of object.  ...  Robotic Grasping of Rigid Objects As for rigid objects, learning from demonstration (LfD) is a popular approach for a robot to improve its capability of object manipulation.  ... 
doi:10.3390/s20133707 pmid:32630755 pmcid:PMC7374444 fatcat:rcgkqwlgqrdv7h5mhovv5m5xdu

Simpler Learning of Robotic Manipulation of Clothing by Utilizing DIY Smart Textile Technology

Andreas Verleysen, Thomas Holvoet, Remko Proesmans, Cedric Den Haese, Francis wyffels
2020 Applied Sciences  
We demonstrate on a low-cost dual robotic arm setup that a physical agent can learn on a single CPU core to fold a rectangular patch of textile in the real world based on a learned reward function from  ...  This complexity can be circumvented by utilizing learning-based approaches, such as reinforcement learning, which can deal with the intrinsic high-dimensional state space of deformable objects.  ...  Prior work [6] [7] [8] has focused on scripting solutions for the robotic manipulation of deformable objects.  ... 
doi:10.3390/app10124088 fatcat:ra53n6uv5rhjzjblgvg2rn74zy

Hand-Object Interaction: From Human Demonstrations to Robot Manipulation

Alessandro Carfì, Timothy Patten, Yingyi Kuang, Ali Hammoud, Mohamad Alameh, Elisa Maiettini, Abraham Itzhak Weinberg, Diego Faria, Fulvio Mastrogiovanni, Guillem Alenyà, Lorenzo Natale, Véronique Perdereau (+2 others)
2021 Frontiers in Robotics and AI  
Furthermore, the article discusses the interplay between these subproblems and describes how their interaction in learning from demonstration contributes to the success of robot manipulation.  ...  Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills.  ...  CONCLUSION This article outlined the importance of observing human-object interaction to learn new robotic manipulation skills from demonstrations.  ... 
doi:10.3389/frobt.2021.714023 pmid:34660702 pmcid:PMC8517111 fatcat:lckonjzuxjdwvk4zaagkrnxdra

Dual arm manipulation—A survey

Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V. Dimarogonas, Danica Kragic
2012 Robotics and Autonomous Systems  
This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.  ...  It is therefore natural to study specifics of dual arm manipulation in humans and methods for using the resulting knowledge in robot control.  ...  [60] analyze stable grasping of deformable objects based on the concept of a bounded force closure, and apply the proposed method to linear deformable objects.  ... 
doi:10.1016/j.robot.2012.07.005 fatcat:kjuryszyhvd3fexpwunckwkh5a

Force-guided High-precision Grasping Control of Fragile and Deformable Objects using sEMG-based Force Prediction [article]

Ruoshi Wen, Kai Yuan, Qiang Wang, Shuai Heng, Zhibin Li
2021 arXiv   pre-print
We demonstrated the effectiveness of the proposed method on a set of representative fragile and deformable objects from daily life, all of which were successfully grasped without any damage or deformation  ...  Regulating contact forces with high precision is crucial for grasping and manipulating fragile or deformable objects.  ...  ACKNOWLEDGMENT This work was supported in part by the National Natural Science Foundation of China (61876054), in part by the China Scholarship Council, in part by the EPSRC CDT in Robotics and Autonomous  ... 
arXiv:2002.01791v2 fatcat:rlyefroc4jgltn2hq5q4irdmpa

Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey

Jose Sanchez, Juan-Antonio Corrales, Belhassen-Chedli Bouzgarrou, Youcef Mezouar
2018 The international journal of robotics research  
We classify the reviewed approaches into four categories based on the type of object they manipulate.  ...  We present a survey of recent work on robot manipulation and sensing of deformable objects, a field with relevant applications in diverse industries such as medical (e.g. surgery assistance), food handling  ...  Specifically, in (Lee et al. 2014 ) learning from demonstration (LfD) was used to learn a function that maps a pairs of correspondence points (i.e. from a demonstrated and a test scene), while minimizing  ... 
doi:10.1177/0278364918779698 fatcat:q3nhl3uzhrdkbjss3lqo5pvwhy

Learning the elasticity parameters of deformable objects with a manipulation robot

Barbara Frank, Rudiger Schmedding, Cyrill Stachniss, Matthias Teschner, Wolfram Burgard
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we consider the problem of determining the elasticity properties of deformable objects with a mobile manipulator equipped with a force sensor.b We learn the parameters by establishing a  ...  To determine the parameters, we minimize the difference between the observed surface of an object that is deformed by a real manipulator and the deformed surface obtained with a deformation simulator based  ...  Deformation of Objects To actually interact with the object, the robot uses its manipulator to apply a force to the object.  ... 
doi:10.1109/iros.2010.5653949 dblp:conf/iros/FrankSSTB10 fatcat:vzzkznlpuze5rb762kmdqjho4i

Benchmark for Bimanual Robotic Manipulation of Semi-deformable Objects

Konstantinos Chatzilygeroudis, Bernardo Fichera, Ilaria Lauzana, Fanjun Bu, Kunpeng Yao, Farshad Khadivar, Aude Billard
2020 IEEE Robotics and Automation Letters  
We propose a new benchmarking protocol to evaluate algorithms for bimanual robotic manipulation semi-deformable objects.  ...  We propose four categories of submission in an attempt to make the benchmark accessible to a wide range of related fields spanning from adaptive control, motion planning to learning the tasks through trial-and-error  ...  Zhu et al. survey in [27] the approaches to learn the assembly task using Learning from Demonstration, from either kinesthetic, motion-sensor or teleoperated demonstrations.  ... 
doi:10.1109/lra.2020.2972837 fatcat:bdchalm6wfhm5euyizpc5w4c3q

DextAIRity: Deformable Manipulation Can be a Breeze [article]

Zhenjia Xu, Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
2022 arXiv   pre-print
We demonstrate the effectiveness of DextAIRity through two challenging deformable object manipulation tasks: cloth unfolding and bag opening.  ...  We present a self-supervised learning framework that learns to effectively perform a target task through a sequence of grasping or air-based blowing actions.  ...  The views and conclusions contained herein are those of the authors and should not be interpreted as necessarily representing the official policies, either expressed or implied, of the sponsors.  ... 
arXiv:2203.01197v3 fatcat:omqssvegcfa75bqlk7ws4afivq

Position / Force Hybrid Control of a Manipulator with a Flexible Tool Using Visual and Force Information [chapter]

Jian Huang, Isao Todo, Tetsuro Yabut
2005 Cutting Edge Robotics  
Manipulation of a deformable tube based on human demonstration (Hirai & Noguchi, 1997) , wire manipulation (Nakagaki et al., 1997 , Nakagaki, 1998 , a study of manipulating a linear objects (Remde et  ...  Recent Researches on Manipulating Deformable Objects In recent years, the robotic manipulation of flexible objects has been demonstrated in a variety of applications.  ...  Position / Force Hybrid Control of a Manipulator with a Flexible Tool Using Visual and Force Information, Cutting Edge Robotics, Vedran Kordic, Aleksandar Lazinica and Munir Merdan (Ed.), ISBN: 3-86611  ... 
doi:10.5772/4672 fatcat:sxknyzjstfgdxcku72eg2ow5hu
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