2025
CATCH-FORM-3D: Compliance-Aware Tactile Control and Hybrid Deformation Regulation for 3D Viscoelastic Object Manipulation
IROS 2025
This paper investigates a framework (CATCH-FORM-3D) for the precise contact force control and surface deformation regulation in viscoelastic material manipulation. A partial differential equation (PDE) is proposed to model the spatiotemporal stress-strain dynamics, integrating 3D Kelvin-Voigt (stiff