7 accepted papers
In this paper, we propose a physics-based robot controller to deform a soft object toward a desired 3D shape using a limited number of handling points. For this purpose, the shape of the deformable object is represented using Fourier descriptors. We derive the analytical relation that provides the v…
In this paper, we propose the ADVISEd (Active Deformation through VIsual SErvoing) method, a novel model-free deformation servoing method able to deform a soft object towards a desired shape. ADVISEd relies on an online estimation of the deformation Jacobian that relates the motion of the robot end-…
In this letter, we propose a novel approach to automatically control the 3D shape of deformable wires using robots. Our approach proposes a novel visual feature along with a novel shape servoing method to enable dual arm manipulation of deformable wires. The visual feature relies on a geometric B-sp
Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly and potentially destructive robot executions. We present a novel approach for learning the probabilities of symbolic robot…
In this paper, we propose a novel method to simultaneously track the deformation of soft objects and estimate their elasticity parameters. The tracking of the deformable object is performed by combining the visual information captured by a RGB-D sensor with interactive Finite Element Method simulati…
While suction cups are widely used in Robotics, the literature is underdeveloped when it comes to the modelling and simulation of the suction phenomenon. In this paper, we present a novel physically-based approach to simulate the behavior of active suction cups. Our model relies on a novel formulati…
In this paper, we present a novel approach for tracking a deformable anatomical target within 3D ultrasound volumes. Our method is able to estimate deformations caused by the physiological motions of the patient. The displacements of moving structures are estimated from an intensity-based approach c…