Deformable Linear Object Surface Placement Using Elastica Planning and Local Shape Control

• URL: http://arxiv.org/abs/2503.08545v1
• Date: Tue, 11 Mar 2025 15:33:36 GMT
• Title: Deformable Linear Object Surface Placement Using Elastica Planning and Local Shape Control
• Authors: I. Grinberg, A. Levin, E. D. Rimon,
• Abstract summary: This paper describes a two-layered approach for placing deformable linear objects (DLOs) on a flat surface using a single robot hand.<n>The high-level layer is a novel DLO surface placement method based on's elastica solutions.<n>The low-level layer forms a pipeline controller.
• Score: 0.0
• License: http://creativecommons.org/licenses/by-sa/4.0/
• Abstract: 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.

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