Contour Moments Based Manipulation of Composite Rigid-Deformable Objects With Finite Time Model Estimation and Shape/Position Control

Jiaming Qi, Guangfu Ma, Jihong Zhu, Peng Zhou, Yueyong Lyu, Haibo Zhang, David Navarro-Alarcon

Research output: Contribution to journalArticleScientificpeer-review

16 Citations (Scopus)
30 Downloads (Pure)

Abstract

The robotic manipulation of composite rigid-deformable objects (i.e., those with mixed nonhomogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has not been sufficiently studied in the literature. To deal with this issue, in this article, we propose a new visual servoing method that has the capability to manipulate this broad class of objects (which varies from soft to rigid) with the same adaptive strategy. To quantify the object's infinite-dimensional configuration, our new approach computes a compact feedback vector of 2-D contour moments features. A sliding mode control scheme is then designed to simultaneously ensure the finite-time convergence of both the feedback shape error and the model estimation error. The stability of the proposed framework (including the boundedness of all the signals) is rigorously proved with Lyapunov theory. Detailed simulations and experiments are presented to validate the effectiveness of the proposed approach. To the best of the author's knowledge, this is the first time that contour moments along with finite-time control have been used to solve this difficult manipulation problem.

Original languageEnglish
Pages (from-to)2985-2996
JournalIEEE/ASME Transactions on Mechatronics
Volume27
Issue number5
DOIs
Publication statusPublished - 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • Contour moments
  • deformable objects
  • Robot kinematics
  • robotics
  • Robots
  • Service robots
  • Shape
  • sliding mode control (SMC)
  • Strain
  • Task analysis
  • Visual servoing
  • visual-servoing

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