Active Deformation through Visual Servoing of Soft Objects
Romain Lagneau,Alexandre Krupa,Maud Marchal,Romain Lagneau,Alexandre Krupa,Maud Marchal
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-effector to the deformation behavior of the object. The estimation is based on a weighted least-squa...
