Contour Based Object-Compliant Shape Control
Cuiral Zueco, Ignacio ; Karayiannidis, Yiannis LU
and Lopez-Nicolas, Gonzalo
(2023)
In IEEE Robotics and Automation Letters
8(8).
p.5164-5171
- Abstract
- Shape control strategies seek to bring deformable objects towards a desired target shape. However, conventional methods focus on reaching the target shape without considering the extent to which the object is deformed during the control process. Control actions may generate unnecessary deformations and thus, increase the possibility of object over-stressing and failure. In this letter, we tackle the problem of vision-based object-compliant shape control (OCSC) with focus on 2D contours of texture-less objects. We propose a novel shape control framework that makes use of a multi-scale analysis of the contour's length and curvature to reduce the amount of deformation objects need to undergo during the shape control task. We evaluate our... (More)
- Shape control strategies seek to bring deformable objects towards a desired target shape. However, conventional methods focus on reaching the target shape without considering the extent to which the object is deformed during the control process. Control actions may generate unnecessary deformations and thus, increase the possibility of object over-stressing and failure. In this letter, we tackle the problem of vision-based object-compliant shape control (OCSC) with focus on 2D contours of texture-less objects. We propose a novel shape control framework that makes use of a multi-scale analysis of the contour's length and curvature to reduce the amount of deformation objects need to undergo during the shape control task. We evaluate our approach with simulations and experiments. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/7bc5443a-2949-4cf1-be2f-7a9ef655922b
- author
- Cuiral Zueco, Ignacio
; Karayiannidis, Yiannis
LU
and Lopez-Nicolas, Gonzalo
- organization
- publishing date
- 2023-07-05
- type
- Contribution to journal
- publication status
- published
- subject
- in
- IEEE Robotics and Automation Letters
- volume
- 8
- issue
- 8
- pages
- 5164 - 5171
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:85164424126
- ISSN
- 2377-3766
- DOI
- 10.1109/LRA.2023.3292617
- project
- RobotLab LTH
- ELLIIT B14: Autonomous Force-Aware Swift Motion Control
- language
- English
- LU publication?
- yes
- id
- 7bc5443a-2949-4cf1-be2f-7a9ef655922b
- date added to LUP
- 2023-09-19 11:05:29
- date last changed
- 2024-02-02 16:04:00
@article{7bc5443a-2949-4cf1-be2f-7a9ef655922b,
abstract = {{Shape control strategies seek to bring deformable objects towards a desired target shape. However, conventional methods focus on reaching the target shape without considering the extent to which the object is deformed during the control process. Control actions may generate unnecessary deformations and thus, increase the possibility of object over-stressing and failure. In this letter, we tackle the problem of vision-based object-compliant shape control (OCSC) with focus on 2D contours of texture-less objects. We propose a novel shape control framework that makes use of a multi-scale analysis of the contour's length and curvature to reduce the amount of deformation objects need to undergo during the shape control task. We evaluate our approach with simulations and experiments.}},
author = {{Cuiral Zueco, Ignacio and Karayiannidis, Yiannis and Lopez-Nicolas, Gonzalo}},
issn = {{2377-3766}},
language = {{eng}},
month = {{07}},
number = {{8}},
pages = {{5164--5171}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
series = {{IEEE Robotics and Automation Letters}},
title = {{Contour Based Object-Compliant Shape Control}},
url = {{http://dx.doi.org/10.1109/LRA.2023.3292617}},
doi = {{10.1109/LRA.2023.3292617}},
volume = {{8}},
year = {{2023}},
}