A Depth-Based Algorithm for Manipulating Deformable Objects Using Smooth Parametric Surfaces and Energy Minimisation

David Navarro-Alarcon1, Omar Zahra2

  • 1The Chinese University of Hong Kong
  • 2The Hong Kong Polytechnic University



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In this brief work, we present a new method for controlling deformations of soft objects by using parametric surfaces as a new type of deformation feedback features. This new approach allows us to actively deform objects into complex 3D shapes. A kinematic-based motion controller is derived using an energy minimisation strategy.

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