Contour Moments Based Manipulation of Composite Rigid-Deformable Objects With Finite Time Model Estimation and Shape/Position Control

The robotic manipulation of composite rigid-deformable objects (i.e., those with mixed nonhomogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has not been sufficiently studied in the literature. To deal with this issue, in this article, we propose a...

LaSeSOM: A Latent and Semantic Representation Framework for Soft Object Manipulation

Soft object manipulation has recently gained popularity within the robotics community due to its potential applications in many economically important areas. Although great progress has been recently achieved in these types of tasks, most state-of-the-art methods are case-specific; They can only be used to perform a single deformation task (e...