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The robotic manipulation of composite rigid-deformable objects (i.e. thosewith mixed non-homogeneous stiffness properties) is a challenging problem withclear practical applications that, despite the recent progress in the field, ithas not been sufficiently studied in the literature. To deal with this issue,in this paper we propose a new visual servoing method that has the capabilityto manipulate this broad class of objects (which varies from soft to rigid)with the same adaptive strategy. To quantify the object's infinite-dimensionalconfiguration, our new approach computes a compact feedback vector of 2Dcontour moments features. A sliding mode control scheme is then designed tosimultaneously ensure the finite-time convergence of both the feedback shapeerror and the model estimation error. The stability of the proposed framework(including the boundedness of all the signals) is rigorously proved withLyapunov theory. Detailed simulations and experiments are presented to validatethe effectiveness of the proposed approach. To the best of the author'sknowledge, this is the first time that contour moments along with finite-timecontrol have been used to solve this difficult manipulation problem.

Contour Moments Based Manipulation of Composite Rigid-Deformable Objects with Finite Time Model Estimation and Shape/Position Control