Feedback Shape Control
Goal:
Control
Description:
The purpose of this project is to develop sensor-based methods for deforming soft objects into desired shapes with robot manipulators.
Topics:
Soft object manipulation
Visual shape servoing
Morphology models
Latent shape representations
Team
Dr Celia Saghour
Kyle Huo
Dr "Big Tom" Qi
Dr Jeffery Zhou
Luiza Labazanova
Dr Jihong Zhu
Dr Zoë Ma
Publications
Z. Weng, P. Zhou, H. Yin, A. Kravberg, A. Varava, D. Navarro-Alarcon and D. Kragic. Interactive Perception for Deformable Object Manipulation. (preprint) [link]
W. Ma, J. Zhu, D. Navarro-Alarcon. Shape Control of Elastic Objects Based on Implicit Sensorimotor Models and Data-Driven Geometric Features. 16th Int. Conf. on Intelligent Autonomous System (IAS-16), pp. 1–8, 20211 [link]
P. Zhou, P. Zheng, J. Qi, C. Li, C. Yang, D. Navarro-Alarcon, and J. Pan. Bimanual Deformable Bag Manipulation Using a Structure-of-Interest Based Latent Dynamics Model. (preprint) [link]
P. Zhou, P. Zheng, J. Qi, C. Li, H.-Y. Lee, A. Duan, L. Lu, Z. Li, L. Hu, D. Navarro-Alarcon. Reactive Human-Robot Collaborative Manipulation of Deformable Linear Objects Using a New Topological Latent Control Model. Robotics and Computer-Integrated Manufacturing (RCIM), vol. 88, pp. 102727, 2024 [pdf]
P. Zhou, J. Qi, A. Duan, S. Huo, Z. Wu and D. Navarro-Alarcon. Imitating Tool-based Garment Folding from a Single Visual Observation Using Hand-Object Graph Dynamics. IEEE Transactions on Industrial Informatics (T-II) (in press), 2024 [pdf]
S. Huo, A. Duan, L. Han, L. Hu, H. Wang and D. Navarro-Alarcon. Efficient Robot Skill Learning with Imitation from a Single Video for Contact-Rich Fabric Manipulation. (preprint) [pdf]
S. Huo, F. Wang, L. Hu, P. Zhou, J. Zhu, H. Wang and D. Navarro-Alarcon. A Dual-Arm Collaborative Framework for Dexterous Manipulation in Unstructured Environments with Contrastive Planning. (preprint) [pdf]
J. Qi, D. Li, Y. Gao, P. Zhou and D. Navarro-Alarcon. Model Predictive Manipulation of Compliant Objects with Multi-Objective Optimizer and Adversarial Network for Occlusion Compensation. (preprint) [pdf]
J. Qi, G. Ran, B. Wang, J. Liu, W. Ma, P. Zhou and D. Navarro-Alarcon. Adaptive Shape Servoing of Elastic Rods using Parameterized Regression Features and Auto-Tuning Motion Controls, IEEE Robotics and Automation Letters (RA-L), vol. 9, no. 2, pp. 1428-1435, 2024. [pdf]
L. Labazanova, S. Peng, L. Qiu, H.-Y. Lee, T. Nanayakkara, and D. Navarro-Alarcon. Self-Reconfigurable Soft-Rigid Mobile Agent with Variable Stiffness and Adaptive Morphology. IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 3, pp. 1643-1650, 2023 [pdf]
W. Ma, B. Zhang, L. Han, S. Huo, H. Wang and D. Navarro-Alarcon. Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation. IEEE/ASME Transactions on Mechatronics (T-MECH), vo. 28, no. 3, pp. 1718 - 1729, 2022. [pdf]
S. Huo, A. Duan, C. Li, P. Zhou, W. Ma, H. Wang and D. Navarro-Alarcon. Keypoint-Based Planar Bimanual Shaping of Deformable Linear Objects Under Environmental Constraints With Hierarchical Action Framework, IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 5222-5229, 2022. [pdf]
J. Zhu, A. Cherubini, C. Dune, D. Navarro-Alarcon, F. Alambeigi, D. Berenson, F. Ficuciello, K. Harada, X. Li, J. Pan and W. Yuan. Challenges and Outlook in Robotic Manipulation of Deformable Objects, IEEE Robotics and Automation Magazine (RA-M), vol. 29, no. 3, pp. 67-77, 2022. [pdf]
J. Qi, G. Ma, J. Zhu, P. Zhou, Y. Lyu, H. Zhang, and D. Navarro-Alarcon. Contour Moments Based Manipulation of Composite Rigid-Deformable Objects with Finite Time Model Estimation and Shape/Position Control, IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 27, no. 5, pp. 2985-2996, 2022. [pdf]
J. Qi, G. Ma, P. Zhou, H. Zhang, Y. Lyu, and D. Navarro-Alarcon. Towards Latent Space Based Manipulation of Elastic Rods using Autoencoder Models and Robust Centerline Extractions, Advanced Robotics (ADV ROBOT), vol. 36, no. 3, pp. 101-115, 2022. [pdf]
J. Zhu, D. Navarro-Alarcon, R. Passama and A. Cherubini. Vision-based Manipulation of Deformable and Rigid Objects Using Subspace Projections of 2D Contours, Robotics and Autonomous Systems (RAS), vol. 142, pp. 103798, 2021. [pdf]
P. Zhou, J. Zhu. S. Huo and D. Navarro-Alarcon. LaSeSOM: A Latent and Semantic Representation Framework for Soft Object Manipulation, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 3, pp. 5381-5388, 2021. [pdf]
D. Navarro-Alarcon, O. Zahra, C. Trejo, E. Olguin-Diaz and V. Parra-Vega. Computing Pressure-Deformation Maps for Braided Continuum Robots, Frontiers in Robotics and AI, vol. 6, pp. 1–4, 2019. [pdf]
D. Navarro-Alarcon and Y.-H. Liu. Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours, IEEE Transactions on Robotics (T-RO), vol. 34, no. 1, 272–1279, 2018. [pdf]
D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, F. Zhong, T. Zhang and P. Li. Automatic 3D Manipulation of Soft Objects by Robotic Arms with Adaptive Deformation Model. IEEE Transactions on Robotics (T-RO), vol. 32, no. 2, 429–441, 2016. [pdf]
D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. On the Visual Deformation Servoing of Compliant Objects: Uncalibrated Control Methods and Experiments. International Journal of Robotics Research (IJRR), vol. 33, no. 11, pp. 1462–1480, 2014. [pdf]
D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Model-free Visually Servoed Deformation Control of Elastic Objects by Robot Manipulators. IEEE Transactions on Robotics (T-RO), vol. 29, no. 6, pp. 1457–1468, 2013. [pdf]