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Robotics 2018, 7(4), 74; https://doi.org/10.3390/robotics7040074

Multi-Modal Sensing and Robotic Manipulation of Non-Rigid Objects: A Survey

School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward, Ottawa, ON K1N 6N5, Canada
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Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Received: 14 September 2018 / Revised: 12 November 2018 / Accepted: 15 November 2018 / Published: 20 November 2018
(This article belongs to the Special Issue Feature Papers)
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PDF [301 KB, uploaded 20 November 2018]

Abstract

This paper aims to provide a comprehensive survey of recent advancements in modelling and autonomous manipulation of non-rigid objects. It first summarizes the recent advances in sensing and modelling of such objects with a focus on describing the methods and technologies used to measure their shape and estimate their material and physical properties. Formal representations considered to predict the deformation resulting from manipulation of non-rigid objects are then investigated. The third part provides a survey of planning and control strategies exploited to operate dexterous robotic systems while performing various tasks on objects made of different non-rigid materials. View Full-Text
Keywords: non-rigid objects; deformation; multi-modal sensing; modeling; robotic manipulation; control non-rigid objects; deformation; multi-modal sensing; modeling; robotic manipulation; control
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Nadon, F.; Valencia, A.J.; Payeur, P. Multi-Modal Sensing and Robotic Manipulation of Non-Rigid Objects: A Survey. Robotics 2018, 7, 74.

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