A Tutorial on Shape Servoing of Deformable Objects-Part II: Advanced Concepts
A Tutorial on Shape Servoing of Deformable Objects-Part II: Advanced Concepts
This article is the second of a two-part tutorial series focusing on data-driven, Jacobian-based shape control for manipulating deformable objects. It utilizes singular value decomposition of the deformation Jacobian to categorize achievable shape changes based on robot motion requirements and analyzes how feature selection influences controller regulation. The text further examines failure modes such as loss of controllability, observability, and mechanical instabilities, concluding with extensions for time-varying targets, secondary tasks, and three-dimensional objects.
This publication extends a two-part tutorial on data-driven, Jacobian-based shape control for deformable objects, detailing the use of singular value decomposition to analyze controllability and observability limits while addressing mechanical instabilities and extensions to time-varying targets.
Source: arXiv Robotics — research abstracts · Read original article ↗
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arXiv:2611.03825v1 Announce Type: new Abstract: In robotics, shape control, or shape servoing, refers to the automatic manipulation of a deformable object toward a desired shape. This article is the second of a two-part tutorial on data-driven, Jacobian-based shape control, in which the deformation Jacobian, a local model of how robot motion changes the measured shape, is estimated from measurements. Part I built the
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shape-servoing loop and derived a local stability condition. This paper starts by using the singular value decomposition of the deformation Jacobian to identify shape changes that can be produced by small robot motions, those that require large robot motions, and those that are locally unavailable. It then analyses how the choice of shape features determines how the controller regulates the object's shape and, there
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fore, how much the object deforms on its way to the target. It then describes three ways in which the shape control loop can fail: loss of controllability, loss of observability, and occurrence of mechanical instabilities. It closes with shape-control extensions to time-varying targets, secondary tasks, and three-dimensional objects.
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Source：arXiv Robotics — research abstracts · arxiv.org