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While humans can manipulate deformable objects smoothly and naturally, this is still a challenge for autonomous robots due to the complex object dynamics. The presence of rigid environment constraints and altering contact phases between the deformable object, the manipulator, and the environment makes this problem even more challenging. This paper presents a framework for deformable object manipulation that makes use of a single human demonstration of the task. The recorded trajectories aredoi:10.1109/iros.2012.6386002 dblp:conf/iros/RambowSBH12 fatcat:mc7azvelyjaznpcx62gsz6gy5y