Real-time reactive manipulation of deformable linear objects is a challenging task that requires robots to quickly and adaptively respond to changes in the object’s deformed shape that result from external forces. In this paper, a novel approach is proposed for real-time reactive deformable linear object manipulation in the context of human–robot collaboration. The proposed approach combines a topological latent representation and a fixed-time sliding mode controller to enable seamless interaction between humans and robots. The introduced topological control model offers a framework for controlling the dynamic shape of deformable objects. By leveraging the topological representation, our approach captures the connectivity and structure of the objects’ shapes within a latent space. This enables improved generalization and performance when handling complex deformable shapes. A fixed-time sliding mode controller ensures that the object is manipulated in real-time, while also ensuring that it remains accurate and stable during the manipulation process. To validate our proposed framework, we first conduct motor-robot experiments to simulate fixed human interaction processes, enabling straightforward comparisons with other approaches. We then follow up with human–robot experiments to demonstrate the effectiveness of our approach.

中文翻译：

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使用新的拓扑潜在控制模型对可变形线性物体进行反应式人机协同操作

可变形线性物体的实时反应操纵是一项具有挑战性的任务，需要机器人快速、自适应地响应外力引起的物体变形形状的变化。在本文中，提出了一种在人机协作背景下实时反应可变形线性物体操纵的新方法。所提出的方法结合了拓扑潜在表示和固定时间滑模控制器，以实现人类和机器人之间的无缝交互。引入的拓扑控制模型提供了控制可变形物体的动态形状的框架。通过利用拓扑表示，我们的方法捕获了潜在空间内对象形状的连接性和结构。这可以在处理复杂的可变形形状时提高泛化能力和性能。固定时间的滑模控制器保证了物体被实时操纵，同时也保证了操纵过程中保持精确和稳定。为了验证我们提出的框架，我们首先进行电机机器人实验来模拟固定的人类交互过程，从而能够与其他方法进行直接比较。然后我们进行人机实验来证明我们方法的有效性。