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- W4200102641 abstract "Shape control has become a prominent research field as it enables the automation of tasks in many applications. Overall, deforming an object to a desired target shape by using few grippers is a major challenge. The limited information about the object dynamics, the need to combine small and large deformations in order to achieve certain target shapes and the non-linear nature of most deformable objects are factors that significantly hamper shape control performance. In this paper, we propose a shape control method for multi-robot manipulation of large-strain deformable objects. Our approach is based on multi-scale Laplacian descriptors that feed an FMM (Fast Marching Method) for elastic shape contour matching. The FMM's resulting path and the Laplacian operator are used to define a control strategy for the robot grippers. Simulation experiments carried out with an ARAP (As Rigid As Possible) deformation model provide satisfactory results." @default.
- W4200102641 created "2021-12-31" @default.
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- W4200102641 date "2021-09-27" @default.
- W4200102641 modified "2023-10-03" @default.
- W4200102641 title "Multi-scale Laplacian-based FMM for shape control" @default.
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- W4200102641 doi "https://doi.org/10.1109/iros51168.2021.9636857" @default.
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