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

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.

@article{grinberg2025_2503.08545,
  title={ Deformable Linear Object Surface Placement Using Elastica Planning and Local Shape Control },
  author={ I. Grinberg and A. Levin and E. D. Rimon },
  journal={arXiv preprint arXiv:2503.08545},
  year={ 2025 }
}