2 papers
cs.RO2025
CATCH-FORM-3D: Compliance-Aware Tactile Control and Hybrid Deformation Regulation for 3D Viscoelastic Object Manipulation
Hongjun Ma, Weichang Li
This paper investigates a framework (CATCH-FORM-3D) for the precise contact force control and surface deformation regulation in viscoelastic material manipulation. A partial differ…
cs.RO2025
CATCH-FORM-ACTer: Compliance-Aware Tactile Control and Hybrid Deformation Regulation-Based Action Transformer for Viscoelastic Object Manipulation
Hongjun Ma, Weichang Li, Jingwei Zhang +2
Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotem…