[en] The art of controlling the shape of deformable
objects autonomously, a.k.a. shape servoing, remains a challenging task for robots today. While some current works devoted
attention to improving controllers, we propose to reconsider the
formulation of the problem itself, under the theory of Lie groups.
This results in a new representation of the state of the object
and leads to a new definition of the shape error. In return,
results obtained from simulations demonstrate that the approach
can achieve better performance for large deformations tasks. In
addition, mobile frame definitions reduce the non-linearity of the
problem. Importantly, this approach is not tied to the algorithm
developed here and can therefore be easily extended to other
types of controllers.
Disciplines :
Mechanical engineering
Author, co-author :
Dehaybe, Louis ; Université de Liège - ULiège > Aérospatiale et Mécanique (A&M)
Bruls, Olivier ; Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Language :
English
Title :
An SE(3)-based formulation of the shape servoing problem
Publication date :
23 May 2022
Event name :
2nd Workshop on Representing and Manipulating Deformable Objects at the IEEE International Conference on Robotics and Automation 2022
