Deformable Linear Objects Modeling and Manipulation: An Energy-Based Approach

In this paper, we discuss modeling and manipulation problem of the deformable linear objects (DLOs). The DLO is represented as a set of small rigid links connected with each other by points. Then, it is modeled as a mass-spring chain, which has linear and torsional components to represent the DLO internal potential energy (stretching and bending energies) and capture its deformable nature. Assuming that the DLO is controllable at its two ends, any change in these ends position leads to change in its internal energy. The developed model simulates the DLO behavior by updating the DLO points, excluding the end points, aiming to minimize the internal energy. To deform the DLO to a desired shape we formulate an optimization problem aims to reduce the error between the DLO and the desired shape and maintains its characteristics. The developed approach is evaluated in simulation experiments for several scenarios that prove its potential applications. The experimental results show a proper and stable performance of the developed approach.