Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures

by   Kejia Chen, et al.
Technische Universität München

Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a significant challenge in developing planning and control algorithms, due to the precise and continuous control required to effectively manipulate the deformable nature of these objects. In this paper, we propose a new framework to control and maintain the shape of deformable linear objects with two robot manipulators utilizing environmental contacts. The framework is composed of a shape planning algorithm which automatically generates appropriate positions to place fixtures, and an object-centered skill engine which includes task and motion planning to control the motion and force of both robots based on the object status. The status of the deformable linear object is estimated online utilizing visual as well as force information. The framework manages to handle a cable routing task in real-world experiments with two Panda robots and especially achieves contact-aware and flexible clip fixing with challenging fixtures.


page 1

page 2

page 6

page 7

page 8


Model-Based Manipulation of Linear Flexible Objects with Visual Curvature Feedback

Manipulation of deformable objects is a desired skill in making robots u...

GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy

Due to the inherent uncertainty in their deformability during motion, pr...

Vision-based Manipulation of Deformable and Rigid Objects Using Subspace Projections of 2D Contours

This paper proposes a unified vision-based manipulation framework using ...

DextAIRity: Deformable Manipulation Can be a Breeze

This paper introduces DextAIRity, an approach to manipulate deformable o...

Deformable One-Dimensional Object Detection for Routing and Manipulation

Many methods exist to model and track deformable one-dimensional objects...

Textile Taxonomy and Classification Using Pulling and Twisting

Identification of textile properties is an important milestone toward ad...

Please sign up or login with your details

Forgot password? Click here to reset