We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints.

翻译：本文提出SCOPE——一种用于建模与操控可变形线性物体的快速高效框架。与传统基于能量的方法不同，SCOPE利用凸近似方法在保持平滑且物理合理的变形同时，显著降低了计算成本。这种速度与精度间的权衡使该方法特别适用于需要实时或近实时响应的应用场景。通过综合仿真实验验证了所提框架的有效性，突显了其在几何与长度约束下生成平滑形状轨迹的能力。