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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
Issue Date: Feb-2018
Source: IEEE transactions on robotics, Feb. 2018, v. 34, no. 1, p. 272-279
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.
Keywords: Shape control
Soft objects
Robots manipulators
Adaptive control
Visual servoing
Publisher: Institute of Electrical and Electronics Engineers
Journal: IEEE transactions on robotics 
ISSN: 1552-3098
EISSN: 1941-0468
DOI: 10.1109/TRO.2017.2765333
Rights: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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The following publication D. Navarro-Alarcon and Y. Liu, "Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours," in IEEE Transactions on Robotics, vol. 34, no. 1, pp. 272-279, Feb. 2018 is available at
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