T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects

TL;DR

T-DOM is a comprehensive taxonomy that categorizes robotic manipulation of deformable objects, including detailed classifications of object deformations, to improve understanding and development of manipulation strategies.

Contribution

This paper introduces T-DOM, the first detailed taxonomy for deformable object manipulation, capturing interactions and deformations to enhance robotic manipulation frameworks.

Findings

T-DOM effectively distinguishes manipulation skills across various deformable objects.

The taxonomy provides a more fine-grained classification than previous models.

Analysis shows T-DOM can identify manipulation nuances not captured by earlier taxonomies.

Abstract

Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the development of manipulation algorithms. The existing grasp and manipulation taxonomies, however, often assume object rigidity, which limits their ability to reason about the complex interactions in the robotic manipulation of deformable objects. Hence, to assist in tasks involving deformable objects, taxonomies need to capture more comprehensively the interactions inherent in deformable object manipulation. To this end, we introduce T-DOM, a taxonomy that analyses key aspects involved in the manipulation of deformable objects, such as robot motion, forces, prehensile and non-prehensile interactions and, for the first time, a detailed classification of object deformations. To evaluate T-DOM, we curate a dataset of ten tasks involving a variety of deformable objects, such as garments, ropes, and surgical gloves, as well as diverse types of deformations. We analyse the proposed tasks comparing the T-DOM taxonomy with previous well established manipulation taxonomies. Our analysis demonstrates that T-DOM can effectively distinguish between manipulation skills that were not identified in other taxonomies, across different deformable objects and manipulation actions, offering new categories to characterize a skill. The proposed taxonomy significantly extends past work, providing a more fine-grained classification that can be used to describe the robotic manipulation of deformable objects. This work establishes a foundation for advancing deformable object manipulation, bridging theoretical understanding and practical implementation in robotic systems.