面向线状柔性物体的机器人操作研究进展与展望

Robotic Manipulation of Deformable Linear Objects: A Survey

  • 摘要: 线状柔性物体具有强变形特性且模型复杂、个体差异大,使用机器人对其进行自主、灵巧的操作具有极大的挑战。本文对面向线状柔性物体的机器人操作研究进行了系统、详细的梳理和总结。首先,从基础研究角度对线状柔性物体的建模、感知、规划、控制等基础问题进行了概述,并从应用研究角度对打结、布线、插孔等具体任务进行了整理。之后,对近年来面向线状柔性物体的机器人操作研究发展趋势进行了总结,并对有待进一步探索的热点问题进行了分析和展望。

     

    Abstract: Deformable linear objects (DLOs) exhibit strong deformation features, complex models, and significant individual differences, making autonomous and dexterous manipulation by robots significantly challenging. In this paper, research on robotic manipulation of DLOs is systematically and comprehensively reviewed and summarized. Firstly, several fundamental issues such as modeling, perception, planning, and control of DLOs are outlined. Secondly, several typical application scenarios such as knotting, routing, and insertion are organized. Thirdly, development trends of robotic manipulation of DLOs in recent years are summarized, and future hot topics for further exploration are analyzed and prospected.

     

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