The proposed method is based on a real-time model-based control algorithm used to position a given point belonging to the object, which is grasped by a human and a robot at its endpoints and able to reach the desired position accurately.
Racha Ghaddar, A. Koessler, Mourad Benoussaad et al.· 2026 IEEE/ASME International...· 0 citations
The problem of shaping soft objects is widespread in industrial, medical, and household settings. Hence, robotic Deformable Object Manipulation (DOM) is a field of research that has recently emerged to improve robotic systems’ ability to handle such objects. Indeed, human-robot collaboration is also relevant to applications featuring soft objects, since the decision-making and dexterity of a human operator are currently beyond reach.Our aim is to assess the feasibility of using fast finite element inverse simulation in collaborative shaping tasks. To this end, we propose a computationally efficient method for controlling the shape of an object grasped at both ends. In our experimental setup, a leader robot moves freely along unplanned trajectories, while a controlled robot maintains the desired shape despite these perturbations. We reach an update frequency of 20 Hz for the inverse simulation, with average steady-state shape errors below 10 mm in most cases. Those satisfying results allow us to envision our next milestone: the deployment of the inverse simulation in real human-robot shaping tasks.
A. Koessler, T. Raharijaona, H. Courtecuisse· 2026 IEEE/ASME International...· 0 citations
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