Contour Moments-Based Manipulation of Composite Rigid-Deformable Objects with Finite-Time Model Estimation

EasyChair Preprint no. 13190

Abstract

This paper presents a novel approach for the manipulation of composite rigid-deformable objects leveraging contour moments and finite-time model estimation. Composite objects, consisting of both rigid and deformable components, pose significant challenges in manipulation tasks due to their complex dynamics. Traditional methods often struggle to accurately model and manipulate such objects efficiently. Our proposed method utilizes contour moments to characterize the shape and deformations of composite objects, enabling precise manipulation control. Additionally, we employ finite-time model estimation techniques to rapidly adapt to changes in the object's dynamics, ensuring robustness and stability during manipulation. Experimental results demonstrate the effectiveness and efficiency of the proposed approach in various manipulation scenarios involving composite rigid-deformable objects.

Keyphrases: composite objects, Contour Moments, Finite-Time Model Estimation, manipulation, Rigid-Deformable Objects

@Booklet{EasyChair:13190,
  author = {Wahaj Ahmed and Suniti Purohit},
  title = {Contour Moments-Based Manipulation of Composite Rigid-Deformable Objects with Finite-Time Model Estimation},
  howpublished = {EasyChair Preprint no. 13190},

  year = {EasyChair, 2024}}