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In this letter, we propose a combination of sensing and control modules for catching soft objects (i.e., a marshmallow and paper balloon) at a high speed with small deformation. A paper balloon and marshmallow are deformed by a small force and they have individual differences in terms of softness. Therefore, model-based, small-deformation catching is difficult. To realize small-deformation catchin...

High-Speed, Small-Deformation Catching of Soft Objects Based on Active Vision and Proximity Sensing