Shape Servoing of a Soft Object Using Fourier Series and a Physics-Based Model
Fouad Makiyeh,François Chaumette,Maud Marchal,Alexandre Krupa,Fouad Makiyeh,François Chaumette,Maud Marchal,Alexandre Krupa
In this paper, we propose a physics-based robot controller to deform a soft object toward a desired 3D shape using a limited number of handling points. For this purpose, the shape of the deformable object is represented using Fourier descriptors. We derive the analytical relation that provides the variation of the Fourier coefficients as a function of the movements of the handling points by consid...
