Uncalibrated vision-based deformation control of compliant objects with online estimation of the Jacobian matrix

In this paper, we propose a new vision-based controller to actively deform an unknown elastic object. Note that most deformation controllers in the literature require a-priori knowledge of the object´s deformation properties. In contrast to this trend, we present a new Lyapunov-based method that online estimates the unknown deformation Jacobian matrix, avoiding any model identification or calibration steps. To achieve the desired object´s deformation, we derive an innovative dynamic-state feedback velocity control law using the passivity-based framework. We present a detailed experimental study to validate the feasibility of our deformation controller.