Robot-Based Processes for Handling Flexible Objects

Associated Project 60 (AP 60)

VIRTUAL PLANNING, DESIGN, AND COMMISSIONING OF COMPLEX, ROBOT-BASED PROCESSES FOR HANDLING FLEXIBLE OBJECTS

Handling flexible objects with robots is essential in many industries, such as logistics or manufacturing, where delicate, deformable items must be manipulated safely and precisely. However, their unpredictable shape changes under force present significant challenges. Traditional robotic systems struggle with accurate modeling, control, and sensing of such objects. Advanced perception, force control, and adaptive planning based on an accurate model of the object are required to ensure reliability and prevent damage during interaction.

The goal of this project is to develop novel simulation models that accurately capture the static and dynamic behavior of compliant objects during robotic handling. To achieve this, digital twins are created and data-driven techniques are employed for system identification.

PRINCIPAL INVESTIGATOR

Prof. Dr.-Ing. habil. Dr. h.c. Oliver Sawodny
Institute for System Dynamics (ISYS), University of Stuttgart

RESEARCHER

Marc Wehmeier (ISYS)

PARTNERS

PREMIUM ROBOTICS GmbH, ISG Industrielle Steuerungstechnik GmbH

FUNDING

Federal Ministry of Education and Research

PEER-REVIEWED PUBLICATIONS

  1. 2026

    1. Wehmeier, M., Hain, S., Hagedorn, M., Pfeifer, D., & Sawodny, O. (2026). A Modeling Approach for Robotic Handling of Deformable Objects in Food Retail to Enable Virtual Commissioning. IEEE 19th International Conference on Advanced Motion Control (AMC).

    

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