An offline geometric model for controlling the shape of elastic linear objects
Omid Aghajanzadeh,Miguel Aranda,Gonzalo López-Nicolás,Roland Lenain,Youcef Mezouar,Omid Aghajanzadeh,Miguel Aranda,Gonzalo López-Nicolás,Roland Lenain,Youcef Mezouar
We propose a new approach to control the shape of deformable objects with robots. Specifically, we consider a fixed-length elastic linear object lying on a 2D workspace. Our main idea is to encode the object's deformation behavior in an offline constant Jacobian matrix. To derive this Jacobian, we use geometric deformation modeling and combine recent work from the fields of deformable object contr...
