In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a lattice around the object, binding the object to the lattice, and tracking and servoing the lattice instead of the object. This makes our approach have full 3D control over deformable objects of any general form (linear, thin-shell, volumetric). Furthermore, it decouples the runtime complexity of the approach from the objects' geometric complexity. Our approach is based on the As-Rigid-As-Possible (ARAP) deformation model. It requires no mechanical parameter of the object to be known and can drive the object toward desired shapes through large deformations. The inputs to our approach are the point cloud of the object's surface in its rest shape and the point cloud captured by a 3D camera in each frame. Overall, our approach is more broadly applicable than existing approaches. We validate the efficiency of our approach through numerous experiments with deformable objects of various shapes and materials (paper, rubber, plastic, foam). Experiment videos are available on the project website: https://sites.google.com/view/tracking-servoing-approach.

翻译：本文提出一种通用的统一跟踪-伺服控制方法，用于通过机械臂控制弹性可变形物体的形状。该方法通过在物体周围构建晶格，将物体绑定至晶格，并直接对晶格而非物体本身进行跟踪与伺服控制。这使得该方法能够对任意形态（线状、薄壳、体积型）的可变形物体实现完全三维控制，同时将运行时复杂度与物体几何复杂度解耦。该方法基于"尽可能刚体"（ARAP）变形模型，无需获知物体的任何力学参数，即可通过大变形驱动物体达到目标形状。方法输入为物体初始形状的表面点云及三维相机逐帧捕获的点云。总体而言，本方法比现有方法具有更广泛的适用性。我们通过使用不同形状与材质（纸张、橡胶、塑料、泡沫）的可变形物体进行大量实验验证了方法有效性。实验视频见项目网站：https://sites.google.com/view/tracking-servoing-approach。