Multi-scale Laplacian-based FMM for shape control

Cuiral Zueco, Ignacio (Universidad de Zaragoza) ; López-Nicolás, Gonzalo (Universidad de Zaragoza)

Resumen: Shape control has become a prominent research field as it enables the automation of tasks in many applications. Overall, deforming an object to a desired target shape by using few grippers is a major challenge. The limited information about the object dynamics, the need to combine small and large deformations in order to achieve certain target shapes and the non-linear nature of most deformable objects are factors that significantly hamper shape control performance. In this paper, we propose a shape control method for multi-robot manipulation of large-strain deformable objects. Our approach is based on multi-scale Laplacian descriptors that feed an FMM (Fast Marching Method) for elastic shape contour matching. The FMM's resulting path and the Laplacian operator are used to define a control strategy for the robot grippers. Simulation experiments carried out with an ARAP (As Rigid As Possible) deformation model provide satisfactory results.

Idioma: Inglés

DOI: 10.1109/IROS51168.2021.9636857

Año: 2021

Publicado en: Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems 2021 (2021), 3792-3797
ISSN: 2153-0858

Financiación: info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00
Financiación: info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)