Examples of deformable object manipulation range from domestic tasks like folding clothes to time and safety critical tasks such as robotic surgery. One of the challenges in planning for deformable object manipulation is the high number of degrees of freedom involved; even approximating the configuration of a piece of cloth with a 4 × 4 grid results in a 48 degree of freedom configuration space. In addition, the dynamics of the deformable object are difficult to model; even with high-fidelity modeling and simulation, planning for an individual task can take hours. Local controllers on the other hand are able to very efficiently generate motion, however, they are only able to successfully complete a task when the initial configuration is favorable.
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