In this paper, we propose a new framework for solving cable-routing problems with a dual-
arm robot, where the objective is to clip a Deformable Linear Object (DLO) into several
arbitrarily placed fixtures. The core of the framework is a task-space planner, which builds a
roadmap from predefined tasks and employs a replanning strategy based on a genetic
algorithm, if problems occur. The manipulation tasks are executed with either individual or
coordinated control of the arms. Moreover, hierarchical quadratic programming is used to …

Deformable object representation and manipulation is an active research area in robotics.
Though there are many types of deformable objects, all with different properties, this work
considers deformable linear objects (DLO), such as ropes or cables. A framework for solving
cable routing or wire-harness problems with a dualarm robot is proposed, with the objective
of clipping a rope into several fixtures. Dual-arm robots have two manipulators that are in
close proximity and can collaborate on a single task. Building on inverse differential …