A review on modeling of flexible deformable object for dexterous robotic manipulation

Yew Cheong Hou,Dickson Neoh Tze How,Khairul Salleh Mohamed Sahari

doi:10.1177/1729881419848894

Yew Cheong Hou, Dickson Neoh Tze How + Show 1 more

Open Access

https://doi.org/10.1177/1729881419848894

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Abstract

In this article, we present a review on the recent advancement in flexible deformable object modeling for dexterous manipulation in robotic system. Flexible deformable object is one of the most research topics in computer graphic, computer vision, and robotic literature. The deformable models are known as the construction of object with material parameters in virtual environment to describe the deformation behavior. Existing modeling techniques and different types of deformable model are described. Various approaches of deformable object modeling have been used in robotic recognition and manipulation in order to reduce the time and cost to obtain more accurate result. In robotic manipulation, object detection, classification, and recognition of deformable objects are always a challenging problem and required as a first step to imbue the robot to able handle these deformable objects. Furthermore, the dexterity of robot control is also another essential key in handling of deformable object which its manipulation strategies need to plan intelligently for each sequence process. We also discuss some deserving direction for further research based on most current contribution.

Highlights

Handling deformable objects is indispensable for human in daily activities
We presented a review of deformable object modeling for recognition and manipulation
Various deformable object modeling has been applied into robotic recognition and manipulation

Summary

Introduction

Handling deformable objects is indispensable for human in daily activities. Handling the deformable objects is an easy task for human but to imbue the robot to learn this kind of skill is a challenging target for researchers in robotic research. The research in rigid object has already almost reached its limit but the research in deformable objects has become a new dominant challenge for researchers. The existing robotic systems such as pick and place the object mainly designed from assumption that it is in rigid, static, and stable form. These robotic systems are mainly ad hoc and have lack of flexibility so the robot path planning strategy will be restricted.

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