0.dlo_overview

Deformable linear objects §

课题的总结 ^skip-numbering §

• 解决哪方面的问题？
  • 纯粹的DLO建模（modeling）
  • 纯粹的DLO识别（perception图像识别：）
  • DLO操控（运动规划，一般需要建模和识别的参与）
• 如果是DLO的操控，那么问题的第一层，应用是什么（工业，医疗，制造等）？
  • folding cloth(house holding), food industry, robotic surgery, aerospace, automotive, electromechanical industries
  • 问题是如何抽象的，根据是否有惯性的参与，大类可分为static和dynamic，static一般属于quasi-static（参考Takahashi et al.的论文第三段 Cable manipulation is treated as a quasi-static task rather than a static task. Quasi-satatic assumes that the motion is slow and there are no inertial effects）
    • [[0.paper/manipulation/deformable_object/deformable_linear_object/dlo_quasi_static_manipulation/dlo_knot|结绳结 tying/untying knots|]]、untangling 可以考虑使用topology
    • 穿洞 insert DLO into a hole
    • 走线 contact-based DLO routing
    • 塑形 form a shape
    • surgical suturing
    • 穿导管cathetering：力反馈？
    • dynamic rope manipulation
    • 其它
• 问题的第二层：是否对DLO进行建模（model-based/model-free）？若建模，使用何种建模方式（Physical/Topology）？
  • 分类方式一：Robotic co-manipulation of deformable linear objects for large deformation tasks
    • Model-based
    • Jacobian-based
    • Data-driven
    • Hybrid
  • physical (geometrical + mechanical)
    • mass-spring
    • elastic rod
    • multi-body
    • finite element
    • dynamic spline
    • position-based dynamics
    • data-driven, etc.
  • Geometrical 或 Topological
    • vertices and edges
• 问题的第三层：如何对DLO进行识别？机器视觉？触觉？混合？
• 问题的第四层：如何对运动进行规划？在线规划？离线规划？是否有视觉反馈的参与？Motion planning/manipulation planning
  • 离线规划现在已经很少见了
  • avoid contact with the environment
  • e.g., planner compute a path in the shape space
• Shape control
  • Model-based/model-free

Category	Method
Application
Problem abstraction（绳结knoting，untangling，穿洞insertion，塑形shaping，走线routing，surgical suturing，穿导管cathetering，dynamic rope manipulation）
DLO perception method (CV/Tactile/Hybrid)
DLO model (mass-spring,elastic rod,multi-body,finite element,dynamic spline,position-based dynamics,data-driven, etc.)
Manipulation method

实验室/研究者 ^skip-numbering §

• Jihong Zhu，University of York，个人主页，现在已经不怎么再做这方面的研究了
• LAR-UNIBO，Alessio Caporali，Gianluca Pallideng’r
• AUTOLAB
•  Bretl Research Group at the University of Illinois at Urbana-Champaign (UIUC)
• Krzysztof Walas

Review类文章 ^skip-numbering §

Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey (2018) §

Jose Sanchez et al., The International Journal of Robotics Rsearch 2018

• 可形变物体的分类方式：参数类型
  • uniparametric单参数 (linear)一维：如cable
    • No compression strength: cables, strings, and ropes
    • Have a large strain: elastic tubes and beams
  • biparametric双参数 (planar, cloth-like)：如paper
  • triparametric三参数：如solid objects

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A review of techniques for modeling flexible cables (2020) §

Naijing Lv et al., Computer-aided design 2020

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