Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on modal analysis. Unlike most existing controllers using geometric features, our controller employs a physically-based deformation feature by decoupling 3D global deformation into low-frequency mode shapes. Although modal analysis is widely adopted in computer vision and simulation, it has not been used in robotic deformation control. We develop a new model-free framework for modal-based deformation control under robot manipulation. Physical interpretation of mode shapes enables us to formulate an analytical deformation Jacobian matrix mapping the robot manipulation onto changes of the modal features. In the Jacobian matrix, unknown geometry and physical properties of the object are treated as low-dimensional modal parameters which can be used to linearly parameterize the closed-loop system. Thus, an adaptive controller with proven stability can be designed to deform the object while online estimating the modal parameters. Simulations and experiments are conducted using linear, planar, and solid objects under different settings. The results not only confirm the superior performance of our controller but also demonstrate its advantages over the baseline method.
Active Cross-Modal Visuo-Tactile Perception of Deformable Linear Objects
Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli（工程学院，坎帕尼亚路易吉·范维蒂利大学）；Dipartimento di Ingegneria dell’Informazione, Università degli Studi di Padova（信息工程学院，帕多瓦大学）
Shape-Space Deformer: Unified Visuo-Tactile Representations for Robotic Manipulation of Deformable Objects
CSIRO Robotics, Data61, CSIRO（CSIRO机器人部、Data61、CSIRO）；School of Electrical Engineering and Computer Science (EECS), The University of Queensland（电气工程与计算机科学学院（EECS）、昆士兰大学）
ForwardDLO: Model-Based Bimanual Shape Matching of Unconstrained Deformable Linear Objects
Technical University of Darmstadt（达姆施塔特工业大学）；Honda Research Institute Europe GmbH（本田欧洲研究院有限公司）；Universidade Estadual de Campinas (UNICAMP)（坎皮纳斯州立大学）；German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心）；Robotics Institute Germany (RIG)（德国机器人研究所）；Centre for Cognitive Science（认知科学中心）
Contour Moments Based Manipulation of Composite Rigid-Deformable Objects with Finite Time Model Estimation and Shape/Position Control
Harbin Institute of Technology（哈尔滨工业大学）；Beijing Institute of Control Engineering（北京控制工程研究所）；TU Delft（代尔夫特理工大学）；The Hong Kong Polytechnic University（香港理工大学）
Grasping Deformable Objects via Reinforcement Learning with Cross-Modal Attention to Visuo-Tactile Inputs
Dept. of Electronic Engineering at Sogang University（ソガン大学电子工程系）；Dept. of Immersive Media and Engineering at Sungkyunkwan University（顺天大学沉浸媒体与工程系）；College of Medicine, Yonsei University（延世大学医学院）
Shape-Adaptive Planning and Control for a Deformable Quadrotor
State Key Laboratory of Industrial Control Technology, Zhejiang University（浙江大学工业控制技术状态重点实验室）；Huzhou Institute, Zhejiang University（浙江大学湖州市院）；Faculty of Robot Science and Engineering, Northeastern University（东北大学机器人科学与工程学院）
TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments
Southern University of Science and Technology (SUSTech)（南方科技大学）；Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems（深圳市仿生机器人与智能系统重点实验室）；Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities（广东省高校人机增强与康复机器人重点实验室）
Multi-Robot Assembly of Deformable Linear Objects Using Multi-Modal Perception
Chair of Robotics, Artificial Intelligence and Real-time Systems, School of Computation, Information and Technology（机器人学、人工智能与实时系统教授会，计算、信息与技术学院）；Institute for Machine Tools and Industrial Management, School of Engineering and Design（机械加工与工业管理研究所，工程与设计学院）
Single-grasp deformable object discrimination: the effect of gripper morphology, sensing modalities, and action parameters
Czech Technical University in Prague（布拉格捷克理工大学）；Faculty of Electrical Engineering, Czech Technical University in Prague（布拉格捷克理工大学电气工程学院）；Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague（布拉格捷克理工大学捷克信息学、机器人学与控制论研究所）
MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservation
Department of Electrical and Computer Engineering and Coordinated Science Laboratory, University of Illinois at Urbana-Champaign（电气与计算机工程系和协调科学实验室，伊利诺伊大学厄巴纳-香槟分校）；Department of Aerospace Engineering and Coordinated Science Laboratory, University of Illinois at Urbana-Champaign（航空航天工程系和协调科学实验室，伊利诺伊大学厄巴纳-香槟分校）
Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning
Department of Cognitive Robotics, Delft University of Technology（认知机器人系，代尔夫特理工大学）；Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（机器人与机电系统研究所，德国航空航天中心（DLR））
Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement
T Stone Robotics Institute（T Stone机器人研究所）；The Chinese University of Hong Kong（香港中文大学）；Hong Kong Center for Logistics Robotics（香港物流机器人中心）；Department of Computer Science and Engineering, The Chinese University of Hong Kong（香港中文大学计算机科学与工程系）
Estimating Force Interactions of Deformable Linear Objects from their Shapes
Nanyang Technological University, School of Mechanical and Aerospace Engineering（南洋理工大学机械与航空航天工程学院）；University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Eureka Robotics
Model-free vision-based shaping of deformable plastic materials
ARC Centre of Excellence for Robotic Vision, Queensland University of Technology（昆士兰科技大学澳大利亚研究委员会机器人视觉卓越中心）；ARC Centre of Excellence for Robotic Vision, Monash University（莫纳什大学澳大利亚研究委员会机器人视觉卓越中心）
Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects
Chalmers University of Technology（查尔姆斯理工大学）；CNRS（法国国家科学研究中心）；Clermont Auvergne INP（克莱蒙奥弗涅国立综合理工学院）；Institut Pascal（帕斯卡尔研究所）；Université Clermont Auvergne（克莱蒙奥弗涅大学）；Lund University（隆德大学）
Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction
Department of Robotics, University of Michigan（机器人学系，密歇根大学）；Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign（机械科学与工程系，伊利诺伊大学厄巴纳-香槟分校）
DLO-Splatting: Tracking Deformable Linear Objects Using 3D Gaussian Splatting
Department of Aerospace Engineering and the Coordinated Science Laboratory at the University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校航空航天工程系及协调科学实验室）；Division of Robotics, Perception and Learning at KTH Royal Institute of Technology（皇家理工学院机器人、感知与学习 division）；NASA Ames Research Center（NASA阿姆斯研究中心）
Prescribed Performance Control of Deformable Object Manipulation in Spatial Latent Space
Department of Mechanical Engineering, The Hong Kong Polytechnic University（机械工程系，香港理工大学）；T Stone Robotics Institute, Department of Mechanical and Automation Eng., The Chinese University of Hong Kong（T Stone机器人研究所，机械与自动化工程系，香港中文大学）
S$^3$-MonoDETR: Supervised Shape&Scale-perceptive Deformable Transformer for Monocular 3D Object Detection
Hunan Vanguard Group Corporation Limited（湖南先锋集团有限公司）；College of Computer Science and Electronic Engineering, Hunan University（湖南大学计算机与通信工程学院）；School of Robotics, Hunan University（湖南大学机器人学院）
