Taxonomy of deformable object shape control

We classify the elements of the shape control problem into 4 fundamental groups, each of which constitutes an independent control block: deformable object characteristics (Sec. 2.1), available object information (Sec. 2.2), error definition (Sec. 2.3) and control strategy (Sec. 2.4). See Fig. 1 for a general overview of the mentioned groups and their corresponding sections. Through the taxonomy, we apply our proposed classification criteria to various shape control strategies: Table 1 to 4, which are introduced in Sections 2.1 to 2.4 respectively, constitute a practical demonstration of our taxonomy. In the tables, some information items have been omitted when reasonable uncertainties existed (i.e. such items were not explicitly addressed in the corresponding paper and could not be easily inferred from the document).

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