Model-free visually servoed deformation control of elastic objects by robot manipulators

David Navarro Alarcon, Yun Hui Liu, José Guadalupe Romero, Peng Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

93 Citations (Scopus)


Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle to its implementation comes from the difficulty to identify or estimate the object's deformation model. In this paper, we propose a novel vision-based deformation controller for robot manipulators interacting with unknown elastic objects. We derive a new dynamic-state feedback velocity control law using the passivity-based framework. Our method exploits visual feedback to estimate the deformation Jacobian matrix in real time, avoiding any model identification steps. We prove that even in the presence of inexact estimations, the closed-loop dynamical system ensures input-to-state stability (i.e., full dissipativity) with respect to external disturbances. An experimental study with several deformation tasks is presented to validate the theory.
Original languageEnglish
Article number6581888
Pages (from-to)1457-1468
Number of pages12
JournalIEEE Transactions on Robotics
Issue number6
Publication statusPublished - 1 Jan 2013
Externally publishedYes


  • Contact modeling
  • Deformable models
  • Dexterous manipulation
  • Shape control
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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