Soft objects are characterized by their deformability. For instance, when we twist our body at the waist while extending a cloth with both hands, the cloth moves during deformation. In the present study, we control the motion and deformation of a soft object simultaneously (Figure 1). We construct control laws stabilizing soft object manipulation by simultaneous control of motion and deformation, and we determine the features of the system. As a result, we found that the system can be stabilized using Integral control law only of input position for desired locations.

Fig.1: Classification of object manipulation

• Mizuho Shibata，Shinichi Hirai，"Soft Object Manipulation by Simultaneous Control of Motion and Deformation"， Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, pp.2460-2465, 2006