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Optimal Robotic Velcro Peeling with Force Feedback
Jiacheng Yuan, Changhyun Choi, Volkan Isler
https://arxiv.org/abs/2506.05812 https://

Optimal Robotic Velcro Peeling with Force Feedback
We study the problem of peeling a Velcro strap from a surface using a robotic manipulator. The surface geometry is arbitrary and unknown. The robot has access to only the force feedback and its end-effector position. This problem is challenging due to the partial observability of the environment and the incompleteness of the sensor feedback. To solve it, we first model the system with simple analytic state and action models based on quasi-static dynamics assumptions. We then study the fully-obs…