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

David Navarro Alarcon; Yun Hui Liu

doi:10.1109/IROS.2013.6697075

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

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

13 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 language	English
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	4977-4982
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2013.6697075
Publication status	Published - 1 Dec 2013
Externally published	Yes
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 8 Nov 2013

Conference

Conference	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/Territory	Japan
City	Tokyo
Period	3/11/13 → 8/11/13

ASJC Scopus subject areas

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

More information

10.1109/IROS.2013.6697075

Cite this

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title = "Uncalibrated vision-based deformation control of compliant objects with online estimation of the Jacobian matrix",

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.",

author = "{Navarro Alarcon}, David and Liu, {Yun Hui}",

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Navarro Alarcon, D & Liu, YH 2013, Uncalibrated vision-based deformation control of compliant objects with online estimation of the Jacobian matrix. in IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6697075, pp. 4977-4982, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 3/11/13. https://doi.org/10.1109/IROS.2013.6697075

Uncalibrated vision-based deformation control of compliant objects with online estimation of the Jacobian matrix. / Navarro Alarcon, David; Liu, Yun Hui.
IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 4977-4982 6697075.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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

Abstract

Conference

ASJC Scopus subject areas

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