Article

Factor-Graph-Based 3D Force Estimation for Dual-Arm Manipulation of Flexible Cables

This study proposes using factor graphs to probabilistically model deformable linear objects (DLOs), estimating the magnitude, direction, and location of 3D forces acting on them while simultaneously reconstructing the cable's shape. Because cables are thin and unactuated, strain gauges and actuation readings are generally impractical; the method uses only one type of sensing information and performs force estimation in simulation tests that add measurement noise and have the cable move along a prescribed path. The authors state that this general method can apply to a broader range of tasks.

Part of the event: Factor Graph Approach for 3D Force Estimation in Dual-Arm Cable Manipulation

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