4 papers
Estimating Force Interactions of Deformable Linear Objects from their Shapes
Qi Jing Chen, Shilin Shan, Timothy Bretl +1
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-…
Robotic Manipulation of a Rotating Chain with Bottom End Fixed
Qi Jing Chen, Shilin Shan, Quang-Cuong Pham
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 f…
Fast Payload Calibration for Sensorless Contact Estimation Using Model Pre-training
Shilin Shan, Quang-Cuong Pham
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection…
Accurate Simulation and Parameter Identification of Deformable Linear Objects using Discrete Elastic Rods in Generalized Coordinates
Qi Jing Chen, Timothy Bretl, Quang-Cuong Pham
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.…