Modeling of deformable objects for robotic manipulation: A tutorial and review
Open accessAbstract
Manipulation of deformable objects has given rise to an important set of open problems in the field of robotics. Application areas include robotic surgery, household robotics, manufacturing, logistics, and agriculture, to name a few. Related research problems span modeling and estimation of an object's shape, estimation of an object's material properties, such as elasticity and plasticity, object tracking and state estimation during manipulation, and manipulation planning and control. In this survey article, we start by providing a tutorial on foundational aspects of models of shape and shape dynamics. We then use this as the basis for a review of existing work on learning and estimation of these models and on motion planning and control to achieve desired deformations. We also discuss potential future lines of work.
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The first challenge in DO manipulation and simulation is to select an appropriate representation for the target object, where the major criteria are expressiveness, accuracy and flexibility of the representation.
“The first challenge in DO manipulation and simulation is to select an appropriate representation for the target object, where the major criteria are expressiveness, accuracy and flexibility [11] of the representation.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [11]
Approaches for modelling dynamics of DOs include mass-spring, particle-based, position-based, constitutive, and neural network systems.
“Approaches for modelling dynamics of DOs include mass-spring, particle-based, position-based, constitutive, and neural network systems [11].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [11]
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References 147 · Cited by 126
Research works printed but not linked: 3
- Ahlberg J. (1996). Active Contours in Three Dimensions (thesis), Linkoping University, Sweden. Available online at: https://pdfs.semanticscholar.org/2cc5/13dbfef8ec6d7b4992adae3ff236e3e137a1.pdf?_ga=2.236805827.391043127.1596479054-447384472.1596479054.
- Moore P. Molloy D. (2007). A survey of computer-based deformable models, in IMVIP 2007: International Machine Vision and Image Processing Conference, Proceedings, Irish Pattern Recognit & Classificat Soc, IEEE Computer Soc. International Machine Vision and Image Processing Conference, eds McDonald J. Markham C. Ghent J. (Los Alamitos, CA; Maynooth: Natl Univ Ireland Maynooth), 55– 64.
- Mrowca D. Zhuang C. Wang E. Haber N. Fei-Fei L. F. Tenenbaum J. (2018). Flexible neural representation for physics prediction, in Advances in Neural Information Processing Systems, eds Bengio S. Wallach H. Larochelle H. Grauman K. Cesa-Bianchi N. Garnett R. (Montreal: Neural Information Processing Systems Foundation, Inc), 8799– 8810.
- Authors
- Arriola-Rios, V. E., Guler, P., Ficuciello, F., Kragic, D., Siciliano, B., & Wyatt, J. L.
- Affiliations
- University of Naples Federico II (IT)
- University of Birmingham (GB)
- Venue
- Frontiers in Robotics and AI
- Publisher
- Frontiers Media SA
- Published
- 2020-09-17
- Volume
- 7
- Pages
- 82-82
- ISSN
- 2296-9144 (ISSN-L)
- PMC
- PMC7805872
- OpenAlex
- W3091248659
- Cited by
- 126
- References
- 147
- Citations by year
- 2026: 16 · 2025: 35 · 2024: 29 · 2023: 20 · 2022: 20 · 2021: 5 · 2020: 1
- FWCI
- 1.58
- Type
- journal article
- Language
- en
- Open access
- gold
- doi.org
- Licence
- Locations
- Frontiers in Robotics and AI (publishedVersion, cc-by)
- Europe PMC (PubMed Central) (publishedVersion, cc-by)
- PubMed Central (publishedVersion, cc-by)
- PubMed (publishedVersion)
- DOAJ (DOAJ: Directory of Open Access Journals) (submittedVersion, cc-by-sa)
- Funders
- Stiftelsen för Strategisk Forskning
- Svenska Forskningsrådet Formas
- Vetenskapsrådet
- Energimyndigheten
- European Regional Development Fund (FESR 2014-2020, 2014-2020’, POR FESR 2014-2020, 2015-2020)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Physical Sciences › Engineering › Computational Mechanics › 3D Shape Modeling and Analysis
- Keywords
- deformable objects, robotic manipulation, shape modeling, shape dynamics, material property estimation, elasticity, plasticity, object tracking, state estimation, manipulation planning, manipulation control, robotic surgery, home robots
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