Soft Robotics 2015
DOI: 10.1007/978-3-662-44506-8_7
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Perception of Deformable Objects and Compliant Manipulation for Service Robots

Abstract: We identified softness in robot control as well as robot perception as key enabling technologies for future service robots. Compliance in motion control compensates for small errors in model acquisition and estimation and enables safe physical interaction with humans. The perception of shape similarities and deformations allows a robot to adapt its skills to the object at hand, given a description of the skill that generalizes between different objects. In this paper, we present our approaches to compliant con… Show more

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Cited by 5 publications
(2 citation statements)
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“… Stückler and Behnke (2014b) ; Stückler et al. (2016 , 2013) ; Stückler and Behnke (2014a , 2015) considered the point cloud presentation of tools and performed deformable registration with different levels of resolution in order to match the overall shape of the tools.…”
Section: Robot Tool Use Literaturementioning
confidence: 99%
“… Stückler and Behnke (2014b) ; Stückler et al. (2016 , 2013) ; Stückler and Behnke (2014a , 2015) considered the point cloud presentation of tools and performed deformable registration with different levels of resolution in order to match the overall shape of the tools.…”
Section: Robot Tool Use Literaturementioning
confidence: 99%
“…Several 1D and 2D solutions have been proposed to tackle the issue of grasping and manipulation of soft objects [1][2][3] such as pieces of fabric or ropes. On the other hand, researchers have only recently addressed the manipulation and grasping of fully shaped 3D objects [4][5][6][7][8][9][10] and mostly focused on modeling the behavior of the deformation, or detecting and ensuring stable grasp. Limited solutions yet exist for the automated classification of deformable objects in accordance with different materials they can be made of, forming classes of elastic, plastic, elasto-plastic, or rigid objects, each category calling for different handling strategies.…”
Section: Introductionmentioning
confidence: 99%