A learned LSTM that predicts cable shape and tension is combined with a zonotope-based trajectory optimizer to enforce collision and tension safety in simulated wire harness assembly.
Four-arm collaboration: Two dual- arm robots work together to manipulate tethered tools,
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Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction
A learned LSTM that predicts cable shape and tension is combined with a zonotope-based trajectory optimizer to enforce collision and tension safety in simulated wire harness assembly.