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In this paper, we present a new vision-based method to control the shape of elastic rods with robot manipulators. Our new method computes parameterized regression features from online sensor measurements that enable to automatically quantify the objects configuration and establish an explicit shape servo-loop. To automatically deform the rod into a desired shape, our adaptive controller iteratively estimates the differential transformation between the robots motion and the relative shape changes; This valuable capability allows to effectively manipulate objects with unknown mechanical models. An auto-tuning algorithm is introduced to adjust the robots shaping motion in real-time based on optimal performance criteria. To validate the proposed theory, we present a detailed numerical and experimental study with vision-guided robotic manipulators.
In this paper, we introduce a new sensor-based control method that regulates (by means of robot motions) the heat transfer between a radiative source and an object of interest. This valuable sensorimotor capability is needed in many industrial, derma
We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle with a circular (or elliptical) pattern on the top. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in imag
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse factor graphs
Motion planning is a fundamental problem and focuses on finding control inputs that enable a robot to reach a goal region while safely avoiding obstacles. However, in many situations, the state of the system may not be known but only estimated using,
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate elastic rods