Manipulation of Deformable Linear Objects Using Model Predictive Path Integral Control with Bidirectional Long Short-Term Memory Learning

Lukas Zeh, Johannes Meiwaldt, Zexu Zhou, Armin Lechler, Alexander Verl

2025

Abstract

The manipulation of Deformable Linear Objects (DLOs) such as cables poses a significant challenge for automation due to their infinite degrees of freedom and non-linear dynamics. In this paper we present a machine learning based optimal control approach for the manipulation of DLOs. This approach is divided into two main components: modeling and control. For modeling the dynamics of the DLO, we propose a learning based approach using a bidirectional Long Short-Term Memory (biLSTM) network. The biLSTM network is trained on synthetic data generated by the MuJoCo physics engine. For manipulating the DLO, a model predictive control strategy that employs Model Predictive Path Integral (MPPI) control is selected. The proposed approach is evaluated through simulation and experiments. The results demonstrate the effectiveness of the proposed method in achieving accurate and efficient manipulation of DLOs.

Paper Citation

in Harvard Style

Zeh L., Meiwaldt J., Zhou Z., Lechler A. and Verl A. (2025). Manipulation of Deformable Linear Objects Using Model Predictive Path Integral Control with Bidirectional Long Short-Term Memory Learning. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 47-58. DOI: 10.5220/0013703800003982

in Bibtex Style

@conference{icinco25,
author={Lukas Zeh and Johannes Meiwaldt and Zexu Zhou and Armin Lechler and Alexander Verl},
title={Manipulation of Deformable Linear Objects Using Model Predictive Path Integral Control with Bidirectional Long Short-Term Memory Learning},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2025},
pages={47-58},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013703800003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Manipulation of Deformable Linear Objects Using Model Predictive Path Integral Control with Bidirectional Long Short-Term Memory Learning
SN - 978-989-758-770-2
AU - Zeh L.
AU - Meiwaldt J.
AU - Zhou Z.
AU - Lechler A.
AU - Verl A.
PY - 2025
SP - 47
EP - 58
DO - 10.5220/0013703800003982
PB - SciTePress