Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 34, Issue 1, Pages 272-279Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2017.2765333
Keywords
Adaptive control; robots manipulators; shape control; soft objects; visual servoing
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Funding
- Hong Kong Research Grants Council (HK RGC) [14203917]
- Hong Kong Polytechnic University (HKPolyU) [4-ZZHJ]
- Chinese University of Hong Kong Shun Hing Institute of Advanced Engineering (CUHK SHIAE) [8115053]
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This 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.
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