Cite this paper
I. Cuiral-Zueco and G. López-Nicolás, “Time Consistent Surface Mapping for Deformable Object Shape Control”, in IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 11099-11111, 2025, doi: 10.1109/TASE.2025.3529180.
Abstract
Shape control involves deforming objects to achieve a desired shape. One of the main challenges of this task is to define a suitable control reference, especially when 3D objects that lack distinctive visual texture and geometric features are involved. This paper addresses the problem of generating a suitable shape control reference using surface maps for 3D texture-less objects. The proposed surface mapping method is based on functional maps and ensures time consistency with robustness to non-isometries. Our time consistent method is validated within a shape control strategy, where local exponential stability analysis is provided. The effectiveness of the framework is illustrated through simulations and experiments.
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Acknowledgements
This work was supported via project REMAIN S1/1.1/E0111 (Interreg Sudoe Programme, ERDF) and projects PID2021-124137OB-I00 and TED2021-130224B-I00 funded by MCIN/AEI/10.13039/501100011033, by ERDF A way of making Europe and by the European Union NextGenerationEU/PRTR.