Trajectory Optimization for Self-Wrap-Aware Cable-Towed Planar Object Manipulation under Implicit Tension Constraints

TL;DR

This paper introduces a trajectory optimization framework for cable-towed planar object manipulation that accounts for self-wrap behavior and tension constraints, enabling more effective routing and force transmission.

Contribution

It formulates a routing-aware, tensioning-implicit trajectory optimization problem with a hierarchy of relaxations to handle self-wrap and tension constraints in cable-towed manipulation.

Findings

IMR exploits self-wrap for better torque application

Routing decisions can be overly conservative when explicit

Relaxation hierarchy improves tractability and solution quality

Abstract

Cable/rope elements are pervasive in deformable-object manipulation, often serving as a deformable force-transmission medium whose routing and contact determine how wrenches are delivered. In cable-towed manipulation, transmission is unilateral and hybrid: the tether can pull only when taut and becomes force-free when slack; in practice, the tether may also contact the object boundary and self-wrap around edges, which is not merely collision avoidance but a change of the wrench transmission channel by shifting the effective application point and moment arm, thereby coupling routing geometry with rigid-body motion and tensioning. We formulate self-wrap towing as a routing-aware, tensioning-implicit trajectory optimization (TITO) problem that couples (i) a tensioning-implicit taut/slack constraint and (ii) routing-conditioned transmission maps for effective length and wrench, and we build a relaxation hierarchy from a strict mode-conditioned reference to three tractable relaxations: Full-Mode Relaxation (FMR), Binary-Mode Relaxation (BMR), and Implicit-Mode Relaxation (IMR). Across planar towing tasks, we find that making routing an explicit decision often yields conservative solutions that stay near switching boundaries, whereas IMR induces self-wrap through state evolution and exploits the redirected torque channel whenever turning requires it.