Visually servoed deformation control by robot manipulators

David Navarro Alarcon, Yunhui Liu, Jose Guadalupe Romero, Peng Li

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

12 Citations (Scopus)

Abstract

Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle comes from the difficulty to identify/estimate the object's deformation properties. This paper presents a new visually servoed deformation controller for unknown elastic objects. The control law is designed using the passivity-based framework. The proposed method exploits visual feedback to iteratively estimate the deformation Jacobian matrix, avoiding any identification steps. We prove that even in the presence of inexact estimations, the controller ensures input-to-state stability (i.e. dissipativity) with respect to time-varying disturbances. Finally, an experimental study with several deformation tasks is presented to validate the theory.
Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages5259-5264
Number of pages6
DOIs
Publication statusPublished - 14 Nov 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013

Conference

Conference2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/TerritoryGermany
CityKarlsruhe
Period6/05/1310/05/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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