Latest News

  • The Workshop will take place full day on Sunday, October 23, Kyoto, Japan.
  • Here is the link to the Teams room! Remote participation is free and open to all.
  • Contributed papers are available under the Papers section.
  • VOD and Recordings are available under the VODs section.


Local Time (UTC+9) CET (Paris, UTC+2) EST (New York, UTC-4) Talk
09:00 - 09:10 02:00 - 02:10 20:00 - 20:10 Welcome and foreword
09:10 - 09:50 02:10 - 02:50 20:10 - 20:50 Session 1 - Real2sim & data management
Jeannette Bohg (Stanford University, USA) & Yiannis Karayiannidis (Lund University, Sweden)
09:50 - 10:20 02:50 - 03:20 20:50 - 21:20 Contributed papers spotlight presentations (1 to 5)
10:20 - 10:40 03:20 - 03:40 21:20 - 21:40 Coffee break
10:40 - 11:30 03:40 - 04:30 21:40 - 22:30 Session 2 - Perception and interaction
Xiang Li (Tsinghua University, China) & Doganay Sirintuna (IIT, Italy)
11:30 - 12:00 04:30 - 05:00 22:30 - 23:00 Contributed papers spotlight presentations (6 to 10)
12:00 - 13:20 05:00 - 06:20 23:00 - 00:20 Lunch break
13:20 - 14:00 06:20 - 07:00 00:20 - 01:00 Best papers presentation
Two winners to be announced!
14:00 - 14:50 07:00 - 07:50 01:00 - 01:50 Session 3 - Control I
Miguel Aranda (Universidad de Zaragoza, Spain), Adrien Escande (JRL, Japan)
14:50 - 15:10 07:50 - 08:10 01:50 - 02:10 Coffee break
15:10 - 16:20 08:10 - 09:20 02:10 - 03:20 Session 4 - Control II
Daniele Meli (University of Verona, Italy) and Cosimo Della Santina (TU Delft and DLR)
16:20 - 17:00 09:20 - 10:00 03:20 - 04:00 General discussion - Round table with invited speakers

Contributed papers

    Awards for best papers will be revealed during the live session on Sunday, October 23.
    Spotlight presentations session #1 (9:50-10:20 local time):
  • Xu Chen et al., "Kinematics Characterization of a Origami-Inspired Parallel Manipulator for pCLE" (PDF)
  • Juliette Drupt et al., "Validity of the catenary model for moving submarine cables with negative buoyancy"
  • Kevin Galassi et al., "A Study of Wiring Harness Topology Perception and Cost-Aware Manipulation" (PDF)
  • Zeyu Lu et al., "GTac-Gripper: A Reconfigurable Under-Actuated Four-Fingered Robotic Gripper With Tactile Sensing" (PDF)
  • Shang Ma et al., "Sampling-based Planning for Underactuated or Deformable Systems Utilizing Contact" (PDF)
  • Spotlight presentations session #2 (11:30-12:00 local time):
  • Angela Mazzeo et al., "A protocol to study the role of deformability in human manipulation when changing task accuracy"
  • David Millard et al., "Direct System Identification of Deformable Objects using Differentiable Finite Element Dynamics" (PDF)
  • Gautam Salhotra et al., "Learning Deformable Object Manipulation from Expert Demonstrations" (PDF)
  • Sashank Tirumala et al., "Learning to Singulate Layers of Cloth using Tactile Feedback" (PDF)
  • Yuxuan Yang et al., "Learn to Predict Posterior Probability in Particle Filtering for Tracking Deformable Linear Objects" (PDF)

Scope and Objectives

    Deformable objects are widely used in many industrial, agricultural and health applications. Robotizing the tasks that involve these objects would have a huge impact. However, robotic manipulation of soft objects in a dynamic and unconstrained situation is an ambitious research topic that includes different domains such as perception, planning, control, machine learning, human-robot-interaction, etc.
    Hence, we propose this workshop for deformable object manipulation with the interest in soft interaction which lies in the many potential robotic systems.

    Links to 1st and 2nd editions of the workshop:


Targeted Topics

    Here are some examples of topics that could be targeted:
  • Grippers/tools design and grasping for manipulation of deformable objects
    • The link between soft robotics and manipulation of deformable objects
    • Grippers for deformable objects
    • Grasping for deformable objects
  • Data management of deformable objects
    • Benchmarking for deformable objects
    • Simulation/modeling and sim2real for deformable objects manipulation<
    • Specific database for deformable objects
  • Perception for manipulation of deformable objects
    • Multi-modal perception for manipulation of deformable objects
    • Human-robot-Environment interaction for the manipulation of deformable objects
  • Control for manipulation of deformable objects
    • Manipulation planning for deformable objects
    • Control of deformable objects

Invited Speakers

  • Cosimo Della Santina, Delft University of Technology, Netherlands, and German Aerospace Center (DLR), Germany
    "Can model-based control of soft robots help with manipulation of deformable objects?"
  • Fanny Ficuciello, Università di Napoli Federico II, Italy
    "Prostate biopsy using a soft/rigid robot"
  • Yiannis Karayiannidis, LTH, Lund University, Sweden
    "Manipulation of Deformable Linear Objects: From simulation to real world experiments"
  • Jeannette Bohg, Stanford University, USA
    "Real2sim for Deformable Objects"
  • Xiang Li, Tsinghua University, China
    "Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach"
  • Doganay Sirintuna, Istituto Italiano di Tecnologia, Italy
    "Human-Robot Collaborative Carrying of Deformable Objects"
  • Daniele Meli, University of Verona, Italy
    "Soft tissue manipulation in robotic surgery"
  • Miguel Aranda, Universidad de Zaragoza, Spain
    "Shape control tasks in deformable object manipulation"
  • Adrien Escande, Japanese-French Joint Robotic Laboratory (JRL), Tsukuba, Japan
    "Belt manipulation in an industrial scenario"

Important Dates & submission

All dates are still subject to modifications by IROS organizers.

  • Sept. 09 Contributed papers submission
  • Sept. 19 Contributed papers acceptance
  • Sept. 30 Video recordings submission
  • Authors are invited to submit full-length papers (6-8 pages) written in English, and formatted using the IEEE templates.
  • The papers should be submitted electronically in .PDF format to Mohammad.Alkhatib[AT]sigma-clermont[DOT]fr , with the following subject: Submission workshop ROMADO-SI.
  • Peer reviews will be used to pick the accepted papers, which will be judged on their originality, applicability, technical clarity, and presentation, with priority to new papers that have not been presented somewhere else.
  • Accepted papers' authors have to submit a 5 mins video presenting their paper (presentation, video results).
  • On the workshop website, the accepted papers and videos will be made available (upon authors' agreement).


  • Mohammad Alkhatib, Associate professor at CNRS, Clermont Auvergne INP, Institut Pascal, Université Clermont Auvergne, France (main organizer)
  • Youcef Mezouar, Full professor at CNRS, Clermont Auvergne INP, Institut Pascal, Université Clermont Auvergne, France
  • Claire Dune, Associate professor at Laboratoire COSMER-EA 7398, Université de Toulon, France
  • Juan Antonio Corrales Ramón, Researcher at CiTIUS laboratory, University of Santiago de Compostela, Spain
  • Guillem Alenyà, Researcher and Director at the Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Spain
  • Júlia Borràs, Researcher and Dep. Director at the Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Spain
  • Adrien Koessler, Associate professor at Université de Lorraine, Arts et Metiers Institute of Technology, LCFC, HESAM Université, France.
  • Jihong Zhu, Postdoctoral Researcher, TU Delft and Honda Research Institute EU, Incoming Assistant Professor, University of York, UK.
  • Irene Garcia-Camacho, PhD fellow at the Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Spain


For all questions plase sollicitate the main organizer: Mohammad.Alkhatib[AT]sigma-clermont[DOT]fr