Coordinated Manipulation of Hybrid Deformable-Rigid Objects in Constrained Environments
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866912964806705152 |
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| author | Peringal, Anees Mathew, Anup Teejo liatsis, Panagiotis Renda, Federico |
| author_facet | Peringal, Anees Mathew, Anup Teejo liatsis, Panagiotis Renda, Federico |
| contents | Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deformable and rigid elements in constrained environments remains challenging. This work presents a quasi-static optimization-based manipulation planner that employs a strain-based Cosserat rod model, extending rigid-body formulations to hybrid deformable linear objects (hDLO). The proposed planner exploits the compliance of deformable links to maneuver through constraints while achieving task-space objectives for the object that are unreachable with rigid tools. By leveraging a differentiable model with analytically derived gradients, the method achieves up to a 33x speedup over finite-difference baselines for inverse kinetostatic(IKS) problems. Furthermore, the subsequent trajectory optimization problem, warm-started using the IKS solution, is only practically realizable via analytical derivatives. The proposed algorithm is validated in simulation on various hDLO systems and experimentally on a three-link hDLO manipulated in a constrained environment using a dual-arm robotic system. Experimental results confirm the planner's accuracy, yielding an average deformation error of approximately 3 cm (5% of the deformable link length) between the desired and measured marker positions. Finally, the proposed optimal planner is compared against a sampling-based feasibility planner adapted to the strain-based formulation. The results demonstrate the effectiveness and applicability of the proposed approach for robotic manipulation of hybrid assemblies in constrained environments. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_12940 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Coordinated Manipulation of Hybrid Deformable-Rigid Objects in Constrained Environments Peringal, Anees Mathew, Anup Teejo liatsis, Panagiotis Renda, Federico Robotics Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deformable and rigid elements in constrained environments remains challenging. This work presents a quasi-static optimization-based manipulation planner that employs a strain-based Cosserat rod model, extending rigid-body formulations to hybrid deformable linear objects (hDLO). The proposed planner exploits the compliance of deformable links to maneuver through constraints while achieving task-space objectives for the object that are unreachable with rigid tools. By leveraging a differentiable model with analytically derived gradients, the method achieves up to a 33x speedup over finite-difference baselines for inverse kinetostatic(IKS) problems. Furthermore, the subsequent trajectory optimization problem, warm-started using the IKS solution, is only practically realizable via analytical derivatives. The proposed algorithm is validated in simulation on various hDLO systems and experimentally on a three-link hDLO manipulated in a constrained environment using a dual-arm robotic system. Experimental results confirm the planner's accuracy, yielding an average deformation error of approximately 3 cm (5% of the deformable link length) between the desired and measured marker positions. Finally, the proposed optimal planner is compared against a sampling-based feasibility planner adapted to the strain-based formulation. The results demonstrate the effectiveness and applicability of the proposed approach for robotic manipulation of hybrid assemblies in constrained environments. |
| title | Coordinated Manipulation of Hybrid Deformable-Rigid Objects in Constrained Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.12940 |