Robotic Manipulation of Deformable Linear Objects: A Survey

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.