Please use this identifier to cite or link to this item:
Title: Fourier-based shape servoing : a new feedback method to actively deform soft objects into desired 2-D image contours
Authors: Navarro-Alarcon D. 
Liu Y.
Keywords: Adaptive control
Robots manipulators
Shape control
Soft objects
Visual servoing
Issue Date: 2018
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on robotics, 2018, v. 34, no. 1, 8106734, p. 272-279 How to cite?
Journal: IEEE transactions on robotics 
Abstract: 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.
ISSN: 1552-3098
EISSN: 1941-0468
DOI: 10.1109/TRO.2017.2765333
Appears in Collections:Journal/Magazine Article

View full-text via PolyU eLinks SFX Query
Show full item record

Page view(s)

Citations as of May 21, 2018

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.