Optimal Shape Servoing with Task-focused Convergence Constraints
Victor H. Giraud, Maxime Padrin, Mohammadreza Shetab-Bushehri, Chedli Bouzgarrou, Youcef Mezouar, Erol Ozgur
Abstract
Most deformable object manipulation tasks still rely on skillful human operators. To automate such tasks, a robotic system should not only be able to deform an object to a desired shape but also servo its deformation along a specific path towards the desired shape. We propose a shape servoing control scheme to automate such tasks. Our scheme controls the deformation trajectory towards the desired shape by imposing task-focused convergence constraints. The constraints impose how fast the different regions of the object converge to the desired shape. Integrating such a behavior in shape servoing forms our main contribution. Experiments, carried out on rubber layer assembly tasks, show that our control scheme outperforms a state-of-the-art shape servoing scheme.
BibTeX
@inproceedings{iros2022_optimalshapeserv,
title = {Optimal Shape Servoing with Task-focused Convergence Constraints},
author = {Victor H. Giraud and Maxime Padrin and Mohammadreza Shetab-Bushehri and Chedli Bouzgarrou and Youcef Mezouar and Erol Ozgur},
booktitle = {IROS 2022},
year = {2022}
}