Humans are able to manipulate Deformable Linear Objects (DLOs) such as cables and wires, with little or no visual information, relying mostly on force sensing. In this work, we propose a reduced DLO model which enables such blind manipulation by keeping the object under tension. Further, an online model estimation procedure is also proposed. A set of elementary sliding and clipping manipulation primitives are defined based on our model. The combination of these primitives allows for more complex motions such as winding of a DLO. The model estimation and manipulation primitives are tested individually but also together in a real-world cable harness production task, using a dual-arm YuMi, thus demonstrating that force-based perception can be sufficient even for such a complex scenario.

翻译：人类能够在几乎没有视觉信息的情况下操控电缆、电线等可变形线性物体（DLO），主要依赖力觉感知。本文提出一种简化的DLO模型，通过保持物体处于张紧状态实现此类盲操作。同时，我们提出在线模型估计方法。基于该模型定义了一组基本滑动与夹持操作基元，这些基元的组合可实现如DLO缠绕等更复杂动作。模型估计与操作基元分别在独立测试及实际线束生产任务中（使用双臂YuMi机器人）得到验证，表明即使在此类复杂场景下，基于力的感知也足以胜任。