# Contact-aware Shaping and Maintenance of Deformable Linear Objects With Fixtures

arXiv: https://arxiv.org/abs/2307.10153 · HTML: https://mlsanity.com/paper/2307.10153/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Jul 2023.

## Built on by (most cited first, 4 of 4)

- [Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios](https://mlsanity.com/paper/2509.11621/) (2025)
- [LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks](https://mlsanity.com/paper/2409.11863/) (2024)
- [CaRoBio: 3D Cable Routing with a Bio-inspired Gripper Fingernail](https://mlsanity.com/paper/2508.09558/) (2025)
- [SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing](https://mlsanity.com/paper/2607.04616/) (2026)

## Abstract (arXiv)

Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a significant challenge in developing planning and control algorithms, due to the precise and continuous control required to effectively manipulate the deformable nature of these objects. In this paper, we propose a new framework to control and maintain the shape of deformable linear objects with two robot manipulators utilizing environmental contacts. The framework is composed of a shape planning algorithm which automatically generates appropriate positions to place fixtures, and an object-centered skill engine which includes task and motion planning to control the motion and force of both robots based on the object status. The status of the deformable linear object is estimated online utilizing visual as well as force information. The framework manages to handle a cable routing task in real-world experiments with two Panda robots and especially achieves contact-aware and flexible clip fixing with challenging fixtures.