Modal-graph 3D shape servoing of deformable objects with raw point clouds
Bohan Yang,
Congying Sui,
Fangxun Zhong
et al.
Abstract:Deformable object manipulation (DOM) with point clouds has great potential as nonrigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is challenging due to: the unknown point correspondences and the noisy partial observability of raw point clouds; the modeling difficulties of the relationship between point clouds and robot motions. To tackle these challenges, this paper introduces a novel modal-graph framework for … Show more
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