3 accepted papers
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the end-effector but at other points along the robot’s body. Such scenario…
This paper presents a fast and accurate model of a deformable linear object (DLO) – e.g., a rope, wire, or cable – integrated into an established robot physics simulator, MuJoCo. Most accurate DLO models with low computational times exist in standalone numerical simulators, which are unable or requi
This paper studies the problem of using a robot arm to manipulate a uniformly rotating chain with its bottom end fixed. Existing studies have investigated ideal rotational shapes for practical applications, yet they do not discuss how these shapes can be consistently achieved through manipulation pl