On the visual deformation servoing of compliant objects: Uncalibrated control methods and experiments

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

Research output: Journal article publicationJournal articleAcademic researchpeer-review

78 Citations (Scopus)


In this paper, we address the active deformation control of compliant objects by robot manipulators. The control of deformations is needed to automate several important tasks, for example, the manipulation of soft tissues, shaping of food materials, or needle insertion. Note that in many of these applications, the object's deformation properties are not known. To cope with this issue, in this paper we present two new visual servoing approaches to explicitly servo-control elastic deformations. The novelty of our kinematic controllers lies in its uncalibrated behavior; our adaptive methods do not require the prior identification of the object's deformation model and the camera's intrinsic/extrinsic parameters. This feature provides a way to automatically control deformations in a model-free manner. The experimental results that we report validate the feasibility of our controllers.
Original languageEnglish
Pages (from-to)1462-1480
Number of pages19
JournalInternational Journal of Robotics Research
Issue number11
Publication statusPublished - 1 Jan 2014
Externally publishedYes


  • adaptive control
  • compliant objects
  • Deformation control
  • Lyapunov stability
  • robot manipulators
  • visual servoing

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence
  • Applied Mathematics


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