3 accepted papers
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
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…