000162771 001__ 162771 000162771 005__ 20251017144628.0 000162771 0247_ $$2doi$$a10.1016/j.robot.2025.105134 000162771 0248_ $$2sideral$$a145325 000162771 037__ $$aART-2025-145325 000162771 041__ $$aeng 000162771 100__ $$0(orcid)0000-0001-5663-7033$$aCuiral-Zueco, Ignacio$$uUniversidad de Zaragoza 000162771 245__ $$aMulti-scale elastic contour mapping for deformable object shape control 000162771 260__ $$c2025 000162771 5060_ $$aAccess copy available to the general public$$fUnrestricted 000162771 5203_ $$aShape control involves manipulating a deformable object towards a desired shape. In this paper we present a multi-scale elastic contour mapping method for shape control of texture-less deformable objects. Our method considers similar geometric features between the current and the target shape by means of multi-scale Laplacian descriptors. We compute elastic maps and thus define a contour point error that considers the stretching and compressing processes involved in shape control tasks. We validate the applicability of our novel mapping method in real shape control frameworks by means of a proposed shape control law. We perform simulations and experiments on different objects and materials with two robotic arms to validate our method. 000162771 536__ $$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00$$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 000162771 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es 000162771 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000162771 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza 000162771 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000162771 773__ $$g194 (2025), 105134 [12 pp.]$$pRobot. auton. syst.$$tROBOTICS AND AUTONOMOUS SYSTEMS$$x0921-8890 000162771 8564_ $$s3922597$$uhttps://zaguan.unizar.es/record/162771/files/texto_completo.pdf$$yVersión publicada 000162771 8564_ $$s2814258$$uhttps://zaguan.unizar.es/record/162771/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000162771 909CO $$ooai:zaguan.unizar.es:162771$$particulos$$pdriver 000162771 951__ $$a2025-10-17-14:25:17 000162771 980__ $$aARTICLE