Visual Shape Servoing of Deformable Objects: The Fundamentals

David Navarro-Alarcon1

  • 1The Chinese University of Hong Kong

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Abstract

My aim in this brief work is to describe the vision-based shape servo-control problem of deformable objects manipulated by one or multiple robotic grippers. The basic formulation of this new type of sensor-guided manipulation task is presented, and a feedback shape controller is derived using a classical approach. Potential practical applications are given; suggestions about the future developments are provided.

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