Time consistent surface mapping for deformable object shape control

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

Resumen: Shape control involves deforming objects to achieve a desired shape. One of the main challenges of this task is to define a suitable control reference, especially when 3D objects that lack distinctive visual texture and geometric features are involved. This paper addresses the problem of generating a suitable shape control reference using surface maps for 3D texture-less objects. The proposed surface mapping method is based on functional maps and ensures time consistency with robustness to non-isometries. Our time consistent method is validated within a shape control strategy, where local exponential stability analysis is provided. The effectiveness of the framework is illustrated through simulations and experiments.

Idioma: Inglés

DOI: 10.1109/TASE.2025.3529180

Año: 2025

Publicado en: IEEE Transactions on Automation Science and Engineering 22 (2025), 11099-11111
ISSN: 1545-5955

Financiación: info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00
Financiación: info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00

Tipo y forma: Artículo (Versión definitiva)

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