Dmitry Berenson: What Matters for Deformable Object | CMU RI Seminar

04 November 2017

share this:

Link to video on YouTube

Abstract: “Deformable objects such as cables and clothes are ubiquitous in factories, hospitals, and homes. While a great deal of work has investigated the manipulation of rigid objects in these settings, manipulation of deformable objects remains under-explored. The problem is indeed challenging, as these objects are not straightforward to model and have infinite-dimensional configuration spaces, making it difficult to apply established approaches for motion planning and control. One of the key challenges in manipulating deformable objects is selecting a model which is efficient to use in a control loop, especially when an accurate model is not available. Our approach to control uses a set of simple models of the object, determining which model to use at the current time step via a novel Multi-Armed Bandit algorithm that reasons over estimates of model utility. I will also present our work on interleaving planning and control for deformable object manipulation in cluttered environments, again without an accurate model of the object. Our method predicts when a controller will be trapped (e.g., by obstacles) and invokes a planner to bring the object near its goal. The key to making the planning tractable is to avoid simulating the motion of the object, instead only forward-propagating the constraint on overstretching. This approach takes advantage of the object’s compliance, which allows it to conform to the environment as long as stretching constraints are satisfied. Our method is able to quickly plan paths in environments with complex obstacle arrangements and then switch to the controller to achieve a desired object configuration.”

John Payne

Related posts :

Women in Tech leadership resources from IMTS 2022

There’ve been quite a few events recently focusing on Women in Robotics, Women in Manufacturing, Women in 3D Printing, in Engineering, and in Tech Leadership. One of the largest tradeshows in the US is IMTS 2022. Here I bring you some resources shared in the curated technical content and leadership sessions.
29 September 2022, by and

MIT engineers build a battery-free, wireless underwater camera

The device could help scientists explore unknown regions of the ocean, track pollution, or monitor the effects of climate change.
27 September 2022, by

How do we control robots on the moon?

In the future, we imagine that teams of robots will explore and develop the surface of nearby planets, moons and asteroids - taking samples, building structures, deploying instruments.
25 September 2022, by , and

Have a say on these robotics solutions before they enter the market!

We have gathered robots which are being developed right now or have just entered the market. We have set these up in a survey style consultation.
24 September 2022, by

Shelf-stocking robots with independent movement

A robot that helps store employees by moving independently through the supermarket and shelving products. According to cognitive robotics researcher Carlos Hernández Corbato, this may be possible in the future. If we engineer the unexpected.
23 September 2022, by

RoboCup humanoid league: Interview with Jasper Güldenstein

We talked to Jasper Güldenstein about how teams transferred developments from the virtual humanoid league to the real-world league.
20 September 2022, by and

©2021 - ROBOTS Association


©2021 - ROBOTS Association