Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/75239
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. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications standards/publications/rights/index.html for more information. 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 https://dx.doi.org/10.1109/TRO.2017.2765333 |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
tro.pdf | Pre-Published version | 2.14 MB | Adobe PDF | View/Open |
Page views
164
Last Week
0
0
Last month
Citations as of Oct 6, 2024
Downloads
465
Citations as of Oct 6, 2024
SCOPUSTM
Citations
95
Last Week
0
0
Last month
Citations as of Oct 10, 2024
WEB OF SCIENCETM
Citations
91
Last Week
0
0
Last month
Citations as of Oct 10, 2024
Google ScholarTM
Check
Altmetric
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.