The modelling of Deformable Linear Objects (DLOs) such as cables, wires, and strings presents significant challenges due to their flexible and deformable nature. In robotics, accurately simulating the dynamic behavior of DLOs is essential for automating tasks like wire handling and assembly. The presented study is a preliminary analysis aimed at force data collection through domain randomization (DR) for training a robot in simulation, using a Mass-Spring-Damper (MSD) system as the reference model. The study aims to assess the impact of model parameter variations on DLO dynamics, using Isaac Sim and Gazebo to validate the applicability of DR technique in these scenarios.
Govoni, A., Zubair, N., Soprani, S., Palli, G. (2025). Performance Analysis of a Mass-Spring-Damper Deformable Linear Object Model in Robotic Simulation Frameworks. GEWERBESTRASSE 11, CHAM, CH-6330, SWITZERLAND : Springer Nature [10.1007/978-3-031-89471-8_29].
Performance Analysis of a Mass-Spring-Damper Deformable Linear Object Model in Robotic Simulation Frameworks
Govoni A.;Soprani S.;Palli G.
2025
Abstract
The modelling of Deformable Linear Objects (DLOs) such as cables, wires, and strings presents significant challenges due to their flexible and deformable nature. In robotics, accurately simulating the dynamic behavior of DLOs is essential for automating tasks like wire handling and assembly. The presented study is a preliminary analysis aimed at force data collection through domain randomization (DR) for training a robot in simulation, using a Mass-Spring-Damper (MSD) system as the reference model. The study aims to assess the impact of model parameter variations on DLO dynamics, using Isaac Sim and Gazebo to validate the applicability of DR technique in these scenarios.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
