Multiscale deformable objects manipulation via wavelet-decomposed boundary element method

Junlei Hu, Dominic Jones, Majed Melibary, Jiannan Liu, Pietro Valdastri, STORM Lab, Institute of Autonomous Systems and Sensing , School of Electronic and Electrical Engineering, University of Leeds, Department of Mechanical and Materials Engineering, University of Jeddah, Saudi Arabia, Department of Oral Maxillofacial-Head , Neck Oncology, Shanghai Ninth People, s Hospital Affiliated to Shanghai Jiao Tong University School of Medicine, College of Stomatology, Shanghai Jiao Tong University, Shanghai Key Laboratory of Stomatology

The International Journal of Robotics Research

Published online on April 24, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Robotic deformable object manipulation (DOM) faces critical challenges in industrial and medical applications due to under-actuation, unpredictable deformation, and partial observability. Model-free methods often suffer from unstable Jacobians arising ...