Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours
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AbstractThis paper addresses the design of a vision-based method to automatically deform soft objects into desired two-dimensional shapes with robot manipulators. The method presents an innovative feedback representation of the object's shape (based on a truncated Fourier series) and effectively exploits it to guide the soft object manipulation task. A new model calibration scheme that iteratively approximates a local deformation model from vision and motion sensory feedback is derived; this estimation method allows us to manipulate objects with unknown deformation properties. Pseudocode algorithms are presented to facilitate the implementation of the controller. Numerical simulations and experiments are reported to validate this new approach.
All Author(s) ListNavarro-Alarcon D, Liu YH
Journal nameIEEE Transactions on Robotics
Volume Number34
Issue Number1
Pages272 - 279
LanguagesEnglish-United Kingdom
KeywordsAdaptive control, robots manipulators, shape control, soft objects, visual servoing
Web of Science Subject CategoriesRobotics;Robotics

Last updated on 2020-27-09 at 02:57