Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts
This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO’s movement through contacts and fixtures. We propose a strategy to estimate the pose of unknown environmental contacts encountered during the manipulation of a DLO, classifying the induced const
