Deformable Elasto-Plastic Object Shaping using an Elastic Hand and Model-Based Reinforcement Learning

Carolyn Matl,Ruzena Bajcsy,Carolyn Matl,Ruzena Bajcsy

Deformable solid objects such as clay or dough are prevalent in industrial and home environments. However, robotic manipulation of such objects has largely remained unexplored in literature due to the high complexity involved in representing and modeling their deformation. This work addresses the problem of shaping elasto-plastic dough by proposing to use a novel elastic end-effector to roll dough...