Manipulation of deformable objects without modeling and simulating deformation

@article{Berenson2013ManipulationOD,
  title={Manipulation of deformable objects without modeling and simulating deformation},
  author={Dmitry Berenson},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={4525-4532}
}
We present a method to manipulate deformable objects that does not require modeling and simulating deformation. Our method is based on the concept of diminishing rigidity, which we use to quickly compute an approximation to the Jacobian of the deformable object. This Jacobian is used to drive the points within the deformable object towards a set of targets. However, this Jacobian alone is insufficient to avoid stretching the object beyond its allowed length and to avoid gripper collision with… CONTINUE READING
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