This paper proposes a general approach to design automatic controls to manipulate elastic objects into desired shapes. The object's geometric model is defined as the shape feature based on the specific task to globally describe the deformation. Raw visual feedback data is processed using classic regression methods to identify parameters of data-driven geometric models in real-time. Our proposed method is able to analytically compute a pose-shape Jacobian matrix based on implicit functions. This model is then used to derive a shape servoing controller. To validate the proposed method, we report a detailed experimental study with robotic manipulators deforming an elastic rod.

翻译：本文提出了设计自动控制以将弹性物体操纵为理想形状的通用方法。 对象的几何模型被定义为基于全球描述变形的具体任务的形状特征。 原始视觉反馈数据使用经典回归方法实时处理, 以确定数据驱动的几何模型参数。 我们建议的方法可以分析根据隐含功能计算成形形形形的雅各布矩阵。 然后, 该模型被用来生成形状变形控制器。 为了验证拟议方法, 我们报告一项详细的实验研究, 由机器人操纵器对弹性杆进行变形。