Uncalibrated vision-based deformation control of compliant objects with online estimation of the Jacobian matrix

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

11 Citations (Scopus)

Abstract

In this paper, we propose a new vision-based controller to actively deform an unknown elastic object. Note that most deformation controllers in the literature require a-priori knowledge of the object's deformation properties. In contrast to this trend, we present a new Lyapunov-based method that online estimates the unknown deformation Jacobian matrix, avoiding any model identification or calibration steps. To achieve the desired object's deformation, we derive an innovative dynamic-state feedback velocity control law using the passivity-based framework. We present a detailed experimental study to validate the feasibility of our deformation controller.
Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages4977-4982
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 3 Nov 20138 Nov 2013

Conference

Conference2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period3/11/138/11/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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