Trajectory Optimization for Self-Wrap-Aware Cable-Towed Planar Object Manipulation under Implicit Tension Constraints

• URL: http://arxiv.org/abs/2603.09557v1
• Date: Tue, 10 Mar 2026 12:04:57 GMT
• Title: Trajectory Optimization for Self-Wrap-Aware Cable-Towed Planar Object Manipulation under Implicit Tension Constraints
• Abstract summary: Self-wrap towing is a routing-aware, tensioning-implicit trajectory optimization (TITO) problem.<n>We build a relaxation hierarchy from a strict mode-conditioned reference to three tractable relaxations: Full-Mode Relaxation (FMR), Binary-Mode Relaxation (BMR), and Implicit-Mode Relaxation (IMR)<n>We find that making routing an explicit decision often yields conservative solutions that stay near switching boundaries, whereas IMR induces self-wrap through state evolution and exploits the redirected torque channel whenever turning requires it.
• Score: 9.211953416333108
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is unilateral and hybrid: the tether can pull only when taut and becomes force-free when slack; in practice, the tether may also contact the object boundary and self-wrap around edges, which is not merely collision avoidance but a change of the wrench transmission channel by shifting the effective application point and moment arm, thereby coupling routing geometry with rigid-body motion and tensioning. We formulate self-wrap towing as a routing-aware, tensioning-implicit trajectory optimization (TITO) problem that couples (i) a tensioning-implicit taut/slack constraint and (ii) routing-conditioned transmission maps for effective length and wrench, and we build a relaxation hierarchy from a strict mode-conditioned reference to three tractable relaxations: Full-Mode Relaxation (FMR), Binary-Mode Relaxation (BMR), and Implicit-Mode Relaxation (IMR). Across planar towing tasks, we find that making routing an explicit decision often yields conservative solutions that stay near switching boundaries, whereas IMR induces self-wrap through state evolution and exploits the redirected torque channel whenever turning requires it.

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