Optimal Shape Servoing with Task-focused Convergence Constraints
Victor H. Giraud,Maxime Padrin,Mohammadreza Shetab-Bushehri,Chedli Bouzgarrou,Youcef Mezouar,Erol Ozgur,Victor H. Giraud,Maxime Padrin,Mohammadreza Shetab-Bushehri,Chedli Bouzgarrou,Youcef Mezouar,Erol Ozgur
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 ...
