Survey on model-based manipulation planning of deformable objects

A systematic overview on the subject of model-based manipulation planning of deformable objects is presented. Existing modelling techniques of volumetric, planar and linear deformable objects are described, emphasizing the different types of deformation. Planning strategies are categorized according to the type of manipulation goal: path planning, folding/unfolding, topology modifications and assembly. Most current contributions fit naturally into these categories, and thus the presented algorithms constitute an adequate basis for future developments.Preprin

Folding Knots Using a Team of Aerial Robots

From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cable segments without any re-grasping. So the team grasps the cable from the floor, and releases it once the knot is folded. Based on a composition of catenary curves, we simplify the complexity of dealing with an infinite-dimensional configuration space of the cable, and formally propose a new knot representation. Such representation allows us to design a trajectory that can be used to fold knots using a leader-follower approach. We show that our method works for different types of knots in simulations. Additionally, we show that our solution is also computationally efficient and can be executed in real-time.Comment: International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, Oct 23 - Oct. 27, 202

Data-driven robotic manipulation of cloth-like deformable objects : the present, challenges and future prospects

Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level of compression strength while two points on the article are pushed towards each other and include objects such as ropes (1D), fabrics (2D) and bags (3D). In general, CDOs’ many degrees of freedom (DoF) introduce severe self-occlusion and complex state–action dynamics as significant obstacles to perception and manipulation systems. These challenges exacerbate existing issues of modern robotic control methods such as imitation learning (IL) and reinforcement learning (RL). This review focuses on the application details of data-driven control methods on four major task families in this domain: cloth shaping, knot tying/untying, dressing and bag manipulation. Furthermore, we identify specific inductive biases in these four domains that present challenges for more general IL and RL algorithms.Publisher PDFPeer reviewe

Ecology out of Bounds: Environmental Humanities Scholarship for Multi-Species and Transdisciplinary Contexts

This dissertation argues that the critical, political and ethical resources shaping popular and scholarly forms of Anglo-North American environmentalism lack the theoretical and imaginative tools to address the challenges of the Anthropocene (that is, the notion that the human species, enabled by a globally expansive petro-industrial apparatus, has become a dominant geological force). Unsettling notions of progress, agency, nature and the individual in novel ways, the Anthropocene changes the way humanists understand what it means to be human and what environmentalists have understood nature to be. As a result, I argue that the anthropogenic landscapes of the Anthropocene challenge writers, theorists, storytellers, artists, scientists and activists to open different kinds of intellectual and imaginative space. Therefore, drawing on feminist science and technology studies, multi-species anthropology and posthumanism, this dissertation contributes to the emerging field of the Environmental Humanities by contextualizing forms of environmental mediation responsive to Anthropocene environments. Making a mess of strict disciplinary and species divisions, my work addresses the way that different kinds of knowledge practice show up in and make a difference in the way bodies and multi-species assemblages materialize and function. Moreover, I distinguish my contribution to environmental thought by avoiding knowledge practices predicated on into the wild narratives and return to nature tropes. Problematically, these kinds of narratives are at risk of advocating masculine imaginaries of control and conquest, and moral superiority complexes about self-sufficiency that delimit boundaries between the natural and the unnatural, the pure from artificial, and thus close off knowledge making work from play, experimentation, wonder and curiosity. More than a question of accurately representing what the Anthropocene is or is not, my research amounts to a pragmatic challenge about how to craft theoretical and textual practices that foster anthropo(de)centric, multi-species and transdisciplinary media, publics and futures