000133247 001__ 133247 000133247 005__ 20240410085328.0 000133247 0247_ $$2doi$$a10.1109/IROS51168.2021.9636857 000133247 0248_ $$2sideral$$a129352 000133247 037__ $$aART-2021-129352 000133247 041__ $$aeng 000133247 100__ $$0(orcid)0000-0001-5663-7033$$aCuiral Zueco, Ignacio$$uUniversidad de Zaragoza 000133247 245__ $$aMulti-scale Laplacian-based FMM for shape control 000133247 260__ $$c2021 000133247 5060_ $$aAccess copy available to the general public$$fUnrestricted 000133247 5203_ $$aShape 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. 000133247 536__ $$9info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00$$9info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638 000133247 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000133247 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000133247 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza 000133247 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000133247 773__ $$g2021 (2021), 3792-3797$$pProc. IEEE/RSJ Int. Conf. Intell. Rob. Syst.$$tProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems$$x2153-0858 000133247 8564_ $$s1201125$$uhttps://zaguan.unizar.es/record/133247/files/texto_completo.pdf$$yPostprint 000133247 8564_ $$s3552260$$uhttps://zaguan.unizar.es/record/133247/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000133247 909CO $$ooai:zaguan.unizar.es:133247$$particulos$$pdriver 000133247 951__ $$a2024-04-10-08:37:06 000133247 980__ $$aARTICLE