Obstacle avoidance shape control of deformable linear objects with online parameters adaptation based on differentiable simulation

Abstract

Abstract The manipulation of deformable linear objects (DLOs) such as ropes, cables, and hoses by robots has promising applications in various fields such as product assembly and surgical suturing. However, DLOs are more difficult to manipulate than rigid objects because their shape changes during manipulation. Furthermore, preventing a DLO from colliding with the environment is important to prevent it from becoming entangled and causing shape control to fail. In this paper, we proposed an obstacle avoidance and shape control scheme for DLOs based on differentiable simulation that does not require prior data or a specialized controller. First, we established a dynamic model of the DLO that allows for both forward dynamics transfer and error backpropagation to obtain gradients. Then, we employed model predictive control to optimize the embedded neural network for predicting the actions that would manipulate the DLO. Finally, the control scheme was made applicable to DLOs with different material properties by allowing online adaptation of the model parameters essential to deformation during manipulation. Simulations and real-world experiments demonstrate that the proposed control scheme could manipulate the DLO stably and accurately to avoid obstacles and achieve the goal state. In addition, the online adaptation of parameters helped mitigate the sim-to-real gap.

Keywords

• Deformable objects manipulation
• Collision avoidance
• Differentiable simulation