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
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the end-effector but at other points along the robot's body. Such scenarios arise when robots manipulate wires indirectly (e.g., by nudging) or when wires act as passive obstacles in the environment. Accurately identifying these interactions is crucial for safe and efficient trajectory planning, helping to prevent wire damage, avoid restricted robot motions, and mitigate potential hazards. Existing approaches often rely on expensive external force-torque sensor or that contacts occur at the end-effector for accurate force estimation. Using wire shape information acquired from a depth camera and under the assumption that the wire is in or near its static equilibrium, our method estimates both the location and magnitude of external forces without additional prior knowledge. This is achieved by exploiting derived consistency conditions and solving a system of linear equations based on force-torque balance along the wire. The approach was validated through simulation, where it achieved high accuracy, and through real-world experiments, where accurate estimation was demonstrated in selected interaction scenarios.
Context-Aware Force Estimation for Deformable Tool Manipulation in Robotic Environmental Swabbing via Few-Shot Continual Adaptation
Department of Biological and Agricultural Engineering, University of Arkansas（阿肯色大学，生物与农业工程系）；Department of Food Science, University of Arkansas（阿肯色大学，食品科学系）
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）
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）
Tombo Propeller: Bio-Inspired Deformable Structure toward Collision-Accommodated Control for Drones
Soft Haptics Lab., School of Materials Science, Japan Advanced Institute of Science and Technology（日本先进科学技术学院材料科学学院软触觉实验室）；Tandon School of Engineering, New York University（纽约大学坦登工程学院）；Japan Science and Technology Agency, PRESTO（日本科学技术厅）
Adaptive and Multi-object Grasping via Deformable Origami Modules
Singapore MIT Alliance for Research and Technology (SMART) centre（新加坡-麻省理工联合研究与技术中心）；Department of Mechanical Engineering, National University of Singapore（国立新加坡大学机械工程系）
Phase-Conditioned Imitation Learning with Autonomous Failure Recovery for Robust Deformable Object Manipulation
Department of Robotics, Tohoku University（东大理学院机器人系）；JC STEM Lab of Robotics for Soft Materials, the Department of Electrical and Computer Engineering, Faculty of Engineering, The University of Hong Kong（香港大学工程学院电气与计算机工程系软材料机器人实验室）
Accurate Simulation and Parameter Identification of Deformable Linear Objects using Discrete Elastic Rods in Generalized Coordinates
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
Dexterous Manipulation of Deformable Objects via Pneumatic Gripping: Lifting by One End
Osaka University（大阪大学）；National Institute of Advanced Industrial Science and Technology (AIST)（日本国立先进工业科学技术研究所（AIST））；The University of Texas at Austin（得克萨斯大学奥斯汀分校）；Ternopil Ivan Puluj National Technical University（捷尔诺波尔伊万·普卢伊国立技术大学）；UT Southwestern Medical Center（德克萨斯大学西南医学中心）
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）
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）
