3 papers
cs.RO2026
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-…
cs.RO2025
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.…
cs.RO2025
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…