変形物体マニピュレーションの課題と展望
Challenges and Outlook in Robotic Manipulation of Deformable Objects
変形物体操作(DOM)の研究動向をハードウェア・センシング・モデリング・計画・制御の各側面から概観し、主要な課題と今後の研究方向を整理したサーベイ論文。
著者: Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Jens Kober, Xiang Li, Jia Pan, Wenzhen Yuan, Michael Gienger
分類: cs.RO
原文アブストラクト
Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and healthcare sectors. However, compared to rigid object manipulation, the manipulation of deformable objects is considerably more complex, and is still an open research problem. Addressing DOM challenges demand breakthroughs in almost all aspects of robotics, namely hardware design, sensing, (deformation) modeling, planning, and control. In this article, we review recent advances and highlight the main challenges when considering deformation in each sub-field. A particular focus of our paper lies in the discussions of these challenges and proposing future directions of research.
