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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...

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Detalles Bibliográficos
Autores principales: Kadi, Halid Abdulrahim, Terzić, Kasim
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
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.
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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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