Multi-scale elastic contour mapping for deformable object shape control

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

Resumen: Shape 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.

Idioma: Inglés

DOI: 10.1016/j.robot.2025.105134

Año: 2025

Publicado en: ROBOTICS AND AUTONOMOUS SYSTEMS 194 (2025), 105134 [12 pp.]
ISSN: 0921-8890

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: Article (Published version)

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