Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures
arXiv (Cornell University)(2023)
摘要
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.
更多查看译文
关键词
deformable linear,shaping,contact-aware
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要