Bibliographic Details
| Title: |
Deformable Linear Object Surface Placement Using Elastica Planning and Local Shape Control |
| Authors: |
Grinberg, I., Levin, A., Rimon, E. D. |
| Publication Year: |
2025 |
| Collection: |
Computer Science |
| Subject Terms: |
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition |
| More Details: |
Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel DLO surface placement method based on Euler's elastica solutions. During this process one DLO endpoint is manipulated by the robot gripper while a variable interior point of the DLO serves as the start point of the portion aligned with the placement surface. The low-level layer forms a pipeline controller. The controller estimates the DLO current shape using a Residual Neural Network (ResNet) and uses low-level feedback to ensure task execution in the presence of modeling and placement errors. The resulting DLO placement approach can recover from states where the high-level manipulation planner has failed as required by practical robot manipulation systems. The DLO placement approach is demonstrated with simulations and experiments that use silicon mock-up objects prepared for fresh food applications. |
| Document Type: |
Working Paper |
| Access URL: |
http://arxiv.org/abs/2503.08545 |
| Accession Number: |
edsarx.2503.08545 |
| Database: |
arXiv |
