动态的DLO操作（DLO dynamic manipulation）
2023
Goal-Image Conditioned Dynamic Cable Manipulation through Bayesian Inference and Multi-Objective Black-Box Optimization ^kuniyuki-2023
Kuniyuki Takahashi et al., Preferred Networks Inc. ICRA 2023
| Category | Method |
|---|---|
| Application | |
| Problem abstraction | dynamic, form a shape |
| DLO model (physical model/topology model/model-free)? | stochastic forward model, Tree-structured Parzen Estimator，端到端 |
| DLO detecting method (CV/Tact/Mixture) | Only RGB, no D。通过阈值对图像二值化，作为神经网络的输入 |
| If use CV, what method? | |
| Motion planning method | 端到端，不进行motion plan |
| Shape Control | 建立前后帧（shape）与帧间关节运动的关联 |
- 通过三自由度机械臂动态的摆动改变线缆形状
- dynamic task
- 端到端，输入图像输出关节角度。black-box optimization (BBO) -> Tree-structured Parzen Estimator (TPE)
2021
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables (2021)
Harry Zhang et al., ICRA 2021
- Dynamic manipulation，完成三类操作
- Vaulting: vault over obstacles
a person vacuuming may find that the vacuum power cable is stuck on a chair, and use dynamic manipulation to “vault” the cable over the chair - Knocking: knock object from pedestals
- Weaving: weave between obstacles
- Vaulting: vault over obstacles
- **仿真环境：**Featherstone rigid-body simulator from Bullet Physics via Blender. Cable consist of a series of small capsule links connected by spring and torsional forces
| Category | Method |
|---|---|
| Application | manipulate vacuum power cable |
| Problem abstraction | vaulting, knocking, weaving |
| DLO perception | RGB image，直接输出给ResNet-34 |
| DLO model (physical model/topology model/model-free)? | model-free, use RGB image as the observation to estimate cable’s configuration space |
| Motion planning method | Iterative traiNing for Dynamic manipulation |
2017
Winding Manipulator Based on High-speed Visual Feedback Control (2017)
* Koichiro Ito et al., Yamakawa Laboratory, UTokyo, CCTA 2017*
- “we propose casting manipulation based on highspeed visual feedback control with a whip.”
| Category | Method |
|---|---|
| Application | |
| Problem abstraction | dynamic manipulation - winding |
| DLO model (physical model/topology model/model-free)? | Physical + geometrical |
| DLO detecting method (CV/Tact/Mixture) | high-speed camera |
| If use CV, what method? | |
| Motion planning method | |
| Shape Control |
2010
Motion Planning for Dynamic Knotting of a Flexible Rope with a High-speed Robot Arm (2010)^yamakawa-irso2010
* Yuji Yamakawa et al., IROS2010*
- 可能是最早一篇提到dynamic manipulation with flexible body的论文？
| Category | Method |
|---|---|
| Application | |
| Problem abstraction | dynamic manipulation - knot tying |
| DLO model (physical model/topology model/model-free)? | Multi-link system based on geometric property and some physical assumption. |
| DLO detecting method (CV/Tact/Mixture) | Sim to real, no vision involved |
| If use CV, what method? | |
| Motion planning method | desired rope configuration is given by a human, converted to executable rope configuration, then to robot arm configuration through IK |
| Shape Control |