Projet Description
Mandolin aims to improve the 3D manipulation of deformable objects using multiple collaborative robots, by optimizing grasping point location and leveraging interactive inverse finite element simulation in planning and control.
Scientific gaps
- Fusion of simulation and advanced control techniques to enhance shaping precision
- Combination of analytical, physics-based, and AI-based techniques to represent and plan deformation states
- Full shape control of deformable objects in 3D including environmental contacts
Partners
- Institut Pascal, Université Clermont Auvergne, Clermont Auvergne INP, CNRS (Clermont-Ferrand, France)
- ICube, Université de Strasbourg, CNRS (Strasbourg, France)
Funding
- French national research agency (ANR), grant number ANR-25-CE33-0917
