Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location

2026-09-22

AI Summary

本文针对具有不可忽略物理响应的线性可变形物体，提出一种闭环控制架构，通过在多个固定点调节力和力矩来实现形状调节。

Abstract

Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regimes. This assumption excludes a broad class of practically relevant objects, such as hoses, pipes, and wiring harnesses, whose dynamics cannot be ignored during manipulation. In this work, we address this limitation by introducing a closed-loop control architecture that explicitly accounts for object dynamics and recasts manipulation as a shape-regulation problem. Control is achieved by modulating forces and torques applied at multiple fixed points along the object. This approach builds on three methodological contributions: a fully dynamic model of linear deformable objects based on discrete strain parameterizations; an extension of the notion of actuation coordinates to SE(3), yielding a structured and inherently underactuated control architecture; and nonlinear feedback strategies providing explicit conditions for steady-state convergence to desired configurations. Extensive simulations on representative manipulation tasks demonstrate the performance gains enabled by the proposed modelbased formulation. We finally validate the approach experimentally through a real-time closed-loop implementation with online shape estimation, confirming its practical feasibility and effectiveness

Problem

• deformable objects
• dynamics
• manipulation
• closed-loop control
• shape regulation

Innovation

• closed-loop control
• dynamic model
• shape regulation
• nonlinear feedback
• underactuated control