In this paper, we address the active deformation control of compliant objects by robot manipulators. The control of deformations is needed to automate several important tasks, for example, the manipulation of soft tissues, shaping of food materials, or needle insertion. Note that in many of these applications, the object’s deformation properties are not known. To cope with this issue, in this paper we present two new visual servoing approaches to explicitly servo-control elastic deformations. The novelty of our kinematic controllers lies in its uncalibrated behavior; our adaptive methods do not require the prior identification of the object’s deformation model and the camera’s intrinsic/extrinsic parameters. This feature provides a way to automatically control deformations in a model-free manner. The experimental results that we report validate the feasibility of our controllers.
ArimotoS (1996) Control Theory of Non-linear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach. New York: Oxford University Press.
2.
BakerSMatthewsI (2004) Lucas–Kanade 20 years on: A unifying framework. International Journal of Computer Vision56(3): 221–255.
3.
BerensonD (2013) Manipulation of deformable objects without modeling and simulating deformation. In: Proceedings of the IEEE/RSJ International conference on intelligent robots and systems, Tokyo, 3–18 November 2013, pp. 1–8.
4.
BradskiG (2000) The OpenCV Library. Dr. Dobb’s Journal of Software Tools25(11): 120, 122–125.
5.
BroydenCG (1965) A class of methods for solving nonlinear simultaneous equations. Mathematics of Computation19: 577–593.
6.
ChaumetteF (2004) Image moments: a general and useful set of features for visual servoing. IEEE Transactions on Robotics20(4): 713–723.
7.
ChaumetteFHutchinsonS (2006) Visual servo control. Part I: Basic approaches. IEEE Robotics and Automation Magazine13(4): 82–90.
8.
CraigJJ (1989) Introduction to Robotics: Mechanics and Control. 2nd edition. Boston, MA: Addison-Wesley Longman Publishing Co.
9.
Cusumano-TownerMSinghAMillerS. (2011) Bringing clothing into desired configurations with limited perception. In: Proceedings of IEEE International conference on robotics and automation, Shanghai, 9–13 May 2011, pp. 3893–3900.
10.
DasJSarkarN (2011) Autonomous shape control of a deformable object by multiple manipulators. Journal of Intelligent and Robotic Systems62: 3–27.
11.
ForsythDAPonceJ (2002) Computer Vision: A Modern Approach. 1st edition. Englewood Cliffs, NJ: Prentice Hall.
HartleyRIZissermanA (2004) Multiple View Geometry in Computer Vision. 2nd edition. Cambridge: Cambridge University Press.
14.
HenrichDWornH (eds) (2000) Robot Manipulation of Deformable Objects. (Advanced manufacturing). New York: Springer-Verlag.
15.
HigashimoriMYoshimotoKKanekoM (2010) Active shaping of an unknown rheological object based on deformation decomposition into elasticity and plasticity. In: Proceedings of the IEEE International conference on robotics and automation, Anchorage, AK, USA, 3–8 May 2011, pp. 5120–5126.
16.
HiraiSWadaT (2000) Indirect simultaneous positioning of deformable objects with multi-pinching fingers based on an uncertain model. Robotica18(1): 3–11.
17.
HoganN (1985) Impedance control: An approach to manipulation, parts I–III. ASME Journal of Dynamic Systems, Measurement, and Control107: 1–24.
18.
HokayemPFSpongMW (2006) Bilateral teleoperation: An historical survey. Automatica42(12): 2035–2057.
19.
HosodaKAsadaM (1994) Versatile visual servoing without knowledge of true Jacobian. In: Proceedings of the IEEE International conference on Intelligent robots and systems, Sendai, Japan, 28 September–2 October 2004, Vol. 1, pp. 186–193.
20.
HutchinsonSHagerGCorkeP (1996) A tutorial on visual servo control. IEEE Transactions on Robotics Automation12(5): 651–670.
21.
JagersandMFuentesONelsonR (1997) Experimental evaluation of uncalibrated visual servoing for precision manipulation. In: Proceedings of the IEEE International conference on robotics and automation, Albuquerque, NM, USA, 20–25 April 1997, Vol. 4, pp. 2874–2880.
22.
KimberlingC (1998) Triangle Centers and Central Triangles: By Clark Kimberling. (Congressus Numerantum). Winnipeg, Canada: Utilitas Mathematica Publishing.
23.
KimuraMSugiyamaYTomokuniS. (2003) Constructing rheologically deformable virtual objects. In: Proceedings of the IEEE International conference on robotics and automation, Taipei, Taiwan, 14–19 September 2003, Vol. 3, pp. 3737–3743.
24.
KinioSPatriciuA (2012) A comparative study of Hinf and PID control for indirect deformable object manipulation. In: IEEE International conference on robotics and biomimetics, St Paul, MN, USA, 14–18 May 2012, pp. 414–420.
25.
LeeCSGZieglerM (1984) Geometric approach in solving inverse kinematics of puma robots. IEEE Transactions on Aerospace and Electronic SystemsAES-20(6): 695–706.
26.
LiuYHSunD (2000) Stabilizing a flexible beam handled by two manipulators via PD feedback. IEEE Transactions Automatic Control45(11): 2159–2164.
27.
LiuYHWangHChenW. (2013) Adaptive visual servoing using common image features with unknown geometric parameters. Automatica49(8): 2453–2460.
28.
LiuYHWangHWangC. (2006) Uncalibrated visual servoing of robots using a depth-independent interaction matrix. IEEE Transactions on Robotics22(4): 804–817.
29.
MallapragadaVSarkarNPodderT (2011) Toward a robot-assisted breast intervention system. IEEE/ASME Transactions on Mechatronics16(6): 1011–1020.
30.
MarsdenJERatiuT (1994) Introduction to Mechanics and Symmetry (Texts in Applied Mathematics). New York: Springer-Verlag.
31.
MillsJKIngJGL (1996) Dynamic modeling and control of a multi-robot system for assembly of flexible payloads with applications to automotive body assembly. Journal of Robotic Systems13(12): 817–836.
32.
MurrayRMSastrySSZexiangL (1994) A Mathematical Introduction to Robotic Manipulation. 1st edition. Boca Raton, FL: CRC Press.
Navarro-AlarconDLiuYH (2013) Uncalibrated vision-based deformation control of compliant objects with online estimation of the Jacobian matrix. In: Proceedings of the IEEE International conference on intelligent robots and systems, Tokyo, 3–8 November 2013, pp. 4977–4982.
35.
Navarro-AlarconDLiuYHRomeroJG. (2013) Model-free visually servoed deformation control of elastic objects by robot manipulators. IEEE Transactions on Robotics26(6): 1457–1468.
OkamuraASmabyNCutkoskyM (2000) An overview of dexterous manipulation. In: Proceedings of the IEEE International conference on robotics and automation, San Francisco, CA, USA, 24–28 April 2000, Vol. 1, pp. 255–262.
38.
OrtegaRvan der SchaftAMareelsI. (2001) Putting energy back in control. IEEE Control Systems Magazine21(2): 18–33.
39.
ParkEMillsJ (2005) Static shape and vibration control of flexible payloads with applications to robotic assembly. IEEE/ASME Transactions on Mechatronics10(6): 675–687.
40.
PertinFBonnet des TuvesJM (2004) Real time robot controller abstraction layer. In: Proceedings of the International symposium on robotics, p. 71.
SmolenJPatriciuA (2009) Deformation planning for robotic soft tissue manipulation. In: Proceedings of the International conference on advances in computer-human interactions, Cancun, Mexico, pp. 199–204.
48.
SunDLiuYH (2001) Position and force tracking of a two-manipulator system manipulating a flexible beam. Journal of Robotic Systems18(4): 197–212.
49.
SunDMillsJKLiuY (1999) Position control of robot manipulators manipulating a flexible payload. International Journal of Robotics Research18(3): 319–332.
50.
TokumotoSHiraiS (2002) Deformation control of rheological food dough using a forming process model. In: Proceedings of the IEEE International conference on robotics and automation, Washington DC, USA, 11–15 May 2002, Vol. 2, pp. 1457–1464.
51.
TokumotoSHiraiSTanakaH (2001) Constructing virtual rheological objects. In: Proceedings of the world multiconference on systemics, cybernetics and informatics, Orlando, FL, USA, pp. 106–111.
52.
TorabiMHauserKAlterovitzR. (2009) Guiding medical needles using single-point tissue manipulation. In: Proceedings of the IEEE International conference on robotics and automation, Kobe, Japan, 12–17 May 2009, pp. 2705–2710.
WadaTHiraiSKawamuraS. (2001) Robust manipulation of deformable objects by a simple PID feedback. In: Proceedings of the IEEE International conference on robotics and automation, Seoul, South Korea, 21–26 May 2001, Vol. 1, pp. 85–90.
55.
WakamatsuHHiraiS (2004) Static modeling of linear object deformation based on differential geometry. International Journal of Robotics Research23(3): 293–311.
56.
WangHLiuYHZhouD (2008) Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera. IEEE Transactions on Robotics24(4): 843–857.
57.
WangZHiraiS (2011) Modeling and estimation of rheological properties of food products for manufacturing simulations. Journal of Food Engineering102(2): 136–144.
58.
WhitneyD (1969) Resolved motion rate control of manipulators and human prostheses. IEEE Transactions on Man Machine Systems10(2): 47–53.
59.
YoshikawaT (2010) Multifingered robot hands: Control for grasping and manipulation. Annual Reviews in Control34(2): 199–208.
60.
YueSHenrichD (2005) Manipulating deformable linear objects: Sensor-based skills of adjustment motions for vibration reduction. Journal of Robotic Systems22(2): 67–85.
