Yanzhao Yu*, Haotian Yang*, Junbo Tan , and Xueqian Wang
*Equal contribution
Tsinghua University
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex nonlinear dynamics, and the underactuated nature of the system. To address these issues, this paper proposes a hybrid force-position strategy for DLO shape control. The framework, combining both force and position representations of DLO, integrates state trajectory planning in the force space and Model Predictive Control (MPC) in the position space. We present a dynamics model with an explicit action encoder, a property extractor and a graph processor based on Graph Attention Networks. The model is used in the MPC to enhance prediction accuracy. Results from both simulations and real-world experiments demonstrate the effectiveness of our approach in achieving efficient and stable shape control of DLOs.
Initial Shape
Target Shape
RMSE
✅Hybrid: 9.92 mm
❎P-MPC: 201 mm
❎RL: 196 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 6.66 mm
❎P-MPC: 292 mm
✅RL: 9.79 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 9.99 mm
❎P-MPC: 265 mm
❎RL: 66.3 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 9.86 mm
❎P-MPC: 243 mm
❎RL: 282 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 9.98 mm
❎P-MPC: 147 mm
❎RL: 215 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 5.49 mm
❎P-MPC: 26.8 mm
❎RL: 99.4 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 7.52 mm
❎P-MPC: 692 mm
✅RL: 10.0 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 6.90 mm
✅P-MPC: 6.66 mm
❎RL: 47.1 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 9.11 mm
✅P-MPC: 10.0 mm
✅RL: 9.99 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE
✅Hybrid: 8.97 mm
✅P-MPC: 9.68 mm
✅RL: 9.93 mm
Hybrid
RL
P-MPC
Initial Shape
Target Shape
RMSE = 9.17 mm
Initial Shape
Target Shape
RMSE = 8.42 mm
Initial Shape
Target Shape
RMSE = 9.13 mm
Initial Shape
Target Shape
RMSE = 9.22 mm
Initial Shape
Target Shape
RMSE = 9.28 mm
Initial Shape
Target Shape
RMSE = 9.33 mm
Initial Shape
Target Shape
RMSE = 9.75 mm
Initial Shape
Target Shape
RMSE = 8.16 mm