SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects

TL;DR

SCOPE is a fast, convex-approximation framework for modeling deformable linear objects, enabling real-time smooth deformations with reduced computational cost while maintaining physical plausibility.

Contribution

The paper introduces SCOPE, a novel convex optimization-based method for deformable linear objects that improves speed and efficiency over traditional energy-based approaches.

Findings

SCOPE achieves real-time performance in simulations.

It maintains smooth, physically plausible deformations.

The method effectively handles geometric and length constraints.

Abstract

We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints.