000130137 001__ 130137 000130137 005__ 20241125101150.0 000130137 0247_ $$2doi$$a10.1109/TMECH.2023.3325934 000130137 0248_ $$2sideral$$a136516 000130137 037__ $$aART-2023-136516 000130137 041__ $$aeng 000130137 100__ $$0(orcid)0000-0001-5663-7033$$aCuiral-Zueco, Ignacio$$uUniversidad de Zaragoza 000130137 245__ $$aMultiscale Procrustes-based 3-D shape control 000130137 260__ $$c2023 000130137 5060_ $$aAccess copy available to the general public$$fUnrestricted 000130137 5203_ $$aThe shape control problem involves deforming a nonrigid object into a desired shape. In this article, we present a new 3-D shape control method that can handle large deformations of texture-less objects. In particular, we use functional maps to generate surface points' correspondences between the current and the desired shape that serve as input for our Procrustes-based multiscale control strategy. The main contribution is a multiscale analysis with a relaxed rigidity assumption that defines scales based on geodesic distances to the grippers. Our method considers that objects may deform at different scales depending on the gripper actions applied to them. For this reason, our multiscale analysis computes shape control actions defined according to gripper influence on particularly convenient scales. We present stability analysis and discuss several simulations and experiments. 000130137 536__ $$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00$$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 000130137 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/ 000130137 590__ $$a6.1$$b2023 000130137 592__ $$a2.133$$b2023 000130137 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b13 / 84 = 0.155$$c2023$$dQ1$$eT1 000130137 591__ $$aENGINEERING, MECHANICAL$$b10 / 183 = 0.055$$c2023$$dQ1$$eT1 000130137 591__ $$aENGINEERING, MANUFACTURING$$b12 / 68 = 0.176$$c2023$$dQ1$$eT1 000130137 591__ $$aENGINEERING, ELECTRICAL & ELECTRONIC$$b45 / 353 = 0.127$$c2023$$dQ1$$eT1 000130137 593__ $$aElectrical and Electronic Engineering$$c2023$$dQ1 000130137 593__ $$aControl and Systems Engineering$$c2023$$dQ1 000130137 593__ $$aComputer Science Applications$$c2023$$dQ1 000130137 594__ $$a11.6$$b2023 000130137 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000130137 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza 000130137 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000130137 773__ $$g29, 3 (2023), 1738-1748$$pIEEE/ASME trans. mechatron.$$tIEEE/ASME Transactions on Mechatronics$$x1083-4435 000130137 8564_ $$s3635782$$uhttps://zaguan.unizar.es/record/130137/files/texto_completo.pdf$$yVersión publicada 000130137 8564_ $$s4588742$$uhttps://zaguan.unizar.es/record/130137/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000130137 909CO $$ooai:zaguan.unizar.es:130137$$particulos$$pdriver 000130137 951__ $$a2024-11-22-12:06:41 000130137 980__ $$aARTICLE