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Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regimes. This assumption excludes a broad class of practically relevant objects, such as hoses, pipes, and wiring harnesses, whose dynamics cannot be ignored during manipulation. In this work, we address this limitation by introducing a closed-loop control architecture that explicitly accounts for object dynamics and recasts manipulation as a shape-regulation problem. Control is achieved by modulating forces and torques ap

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