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Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects
Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level of compression strength while two points on the article are pushed towards each other and include objects such as ropes (1...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
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MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10007406/ https://www.ncbi.nlm.nih.gov/pubmed/36904597 http://dx.doi.org/10.3390/s23052389 |
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author | Kadi, Halid Abdulrahim Terzić, Kasim |
author_facet | Kadi, Halid Abdulrahim Terzić, Kasim |
author_sort | Kadi, Halid Abdulrahim |
collection | PubMed |
description | Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level of compression strength while two points on the article are pushed towards each other and include objects such as ropes (1D), fabrics (2D) and bags (3D). In general, CDOs’ many degrees of freedom (DoF) introduce severe self-occlusion and complex state–action dynamics as significant obstacles to perception and manipulation systems. These challenges exacerbate existing issues of modern robotic control methods such as imitation learning (IL) and reinforcement learning (RL). This review focuses on the application details of data-driven control methods on four major task families in this domain: cloth shaping, knot tying/untying, dressing and bag manipulation. Furthermore, we identify specific inductive biases in these four domains that present challenges for more general IL and RL algorithms. |
format | Online Article Text |
id | pubmed-10007406 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-100074062023-03-12 Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects Kadi, Halid Abdulrahim Terzić, Kasim Sensors (Basel) Review Manipulating cloth-like deformable objects (CDOs) is a long-standing problem in the robotics community. CDOs are flexible (non-rigid) objects that do not show a detectable level of compression strength while two points on the article are pushed towards each other and include objects such as ropes (1D), fabrics (2D) and bags (3D). In general, CDOs’ many degrees of freedom (DoF) introduce severe self-occlusion and complex state–action dynamics as significant obstacles to perception and manipulation systems. These challenges exacerbate existing issues of modern robotic control methods such as imitation learning (IL) and reinforcement learning (RL). This review focuses on the application details of data-driven control methods on four major task families in this domain: cloth shaping, knot tying/untying, dressing and bag manipulation. Furthermore, we identify specific inductive biases in these four domains that present challenges for more general IL and RL algorithms. MDPI 2023-02-21 /pmc/articles/PMC10007406/ /pubmed/36904597 http://dx.doi.org/10.3390/s23052389 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Review Kadi, Halid Abdulrahim Terzić, Kasim Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects |
title | Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects |
title_full | Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects |
title_fullStr | Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects |
title_full_unstemmed | Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects |
title_short | Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects |
title_sort | data-driven robotic manipulation of cloth-like deformable objects: the present, challenges and future prospects |
topic | Review |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10007406/ https://www.ncbi.nlm.nih.gov/pubmed/36904597 http://dx.doi.org/10.3390/s23052389 |
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