Vision-Based Shape Control of Deformable Objects

P. Zhou, W. Ma, J. Zhu. S. Huo, J. Zhu and D. Navarro-Alarcon

About the Research

The purpose of this project is to develop sensor-based methods for deforming soft objects into desired shapes with robot manipulators. Funding source: RGC General Research Fund 142039/17E 2018–2021, and the RGC-DAAD grant G-PolyU507/18.

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Introduction







Related Papers

  • J. Qi, G. Ma, J. Zhu, P. Zhou, Y. Lyu, H. Zhang, and D. Navarro-Alarcon. Contour Moments Based Manipulation of Composite Rigid-Deformable Objects with Finite Time Model Estimation and Shape/Position Control. (preprint), 2021 [pdf]

  • J. Zhu, A. Cherubini, C. Dune, D. Navarro-Alarcon, F. Alambeigi, D. Berenson, F. Ficuciello, K. Harada, X. Li, J. Pan and W. Yuan. Challenges and Outlook in Robotic Manipulation of Deformable Objects. (preprint), 2021, [pdf]

  • J. Zhu, D. Navarro-Alarcon, R. Passama and A. Cherubini. Vision-based Manipulation of Deformable and Rigid Objects Using Subspace Projections of 2D Contours, Robotics and Autonomous Systems (RAS), vol. 142, pp. 103798, 2021. [pdf]

  • W. Ma, J. Zhu, D. Navarro-Alarcon. Shape Control of Elastic Objects Based on Implicit Sensorimotor Models and Data-Driven Geometric Features. 16th Int. Conf. on Intelligent Autonomous System (IAS-16), 2021. [pdf]

  • P. Zhou, J. Zhu. S. Huo and D. Navarro-Alarcon. LaSeSOM: A Latent Representation Framework for Semantic Soft Object Manipulation, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 3, pp. 5381-5388, 2021. [pdf]

  • D. Navarro-Alarcon, O. Zahra, C. Trejo, E. Olguin-Diaz and V. Parra-Vega. Computing Pressure-Deformation Maps for Braided Continuum Robots, Frontiers in Robotics and AI, vol. 6, pp. 1–4, 2019. [pdf]

  • D. Navarro-Alarcon and Y.-H. Liu. Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours, IEEE Transactions on Robotics (T-RO), vol. 34, no. 1, 272–1279, 2018. [pdf]

  • Z. Wang, X. Li, D. Navarro-Alarcon, and Y.-H. Liu. A Unified Controller for Region-reaching and Deforming of Soft Objects. RSJ/IEEE Int. Conf. Intelligent Robots and Systems (IROS), 2018.

  • D. Navarro-Alarcon and O. Zahra. A Depth-Based Algorithm for Manipulating Deformable Objects Using Smooth Parametric Surfaces and Energy Minimisation. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 2704, 2018

  • D Navarro-Alarcon. Visual Shape Servoing of Deformable Objects: The Fundamentals”. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 2287, 2017.

  • D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, F. Zhong, T. Zhang and P. Li. Automatic 3D Manipulation of Soft Objects by Robotic Arms with Adaptive Deformation Model. IEEE Transactions on Robotics (T-RO), vol. 32, no. 2, 429–441, 2016. [pdf]

  • T.X. Zhang, D. Navarro-Alarcon, K. Ng, M. Chow, Y.-H. Liu, and H. Chung. A Novel Palm-Shape Breast Deformation Robot for MRI-Guided Biopsy. IEEE Int. Conf. Robotics and Biomimetics (ROBIO), 527–532, 2016.

  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. On the Visual Deformation Servoing of Compliant Objects: Uncalibrated Control Methods and Experiments. International Journal of Robotics Research (IJRR), vol. 33, no. 11, pp. 1462–1480, 2014. [pdf]

  • D. Navarro-Alarcon and Y.-H. Liu. A Dynamic and Uncalibrated Method to Visually Servo-control Elastic Deformations by Fully-constrained Robotic Grippers. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 4457–4462, 2014.

  • D. Navarro-Alarcon and Y.-H. Liu. Uncalibrated Vision-based Deformation Control of Compliant Objects with Online Estimation of the Jacobian Matrix. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), pp. 4977–4982, 2013.

  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Visually Servoed Deformation Control by Robot Manipulators. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 5239–5244, 2013.

  • D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Model-free Visually Servoed Deformation Control of Elastic Objects by Robot Manipulators. IEEE Transactions on Robotics (T-RO), vol. 29, no. 6, pp. 1457–1468, 2013. [pdf]