用凸近似加速柔性线状物体模拟，实时响应更顺畅。
SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects
- 用凸优化替代传统能量模型，降低计算开销。
- 在保持物理合理性前提下，实现快速平滑形变轨迹。
- 适合需实时交互的机器人抓取与路径规划场景。
我们提出SCOPE，一种高效建模与操控可变形线状物体（DLOs）的框架。与传统的基于能量的方法不同，SCOPE利用凸近似显著降低计算成本，同时保持形变过程的平滑性与物理合理性。该方法在速度与精度间取得良好平衡，特别适用于需要实时或近实时响应的应用。通过全面的仿真实验验证了其有效性，展示了在几何约束和长度约束下生成平滑形状轨迹的能力。
原文摘要 · Abstract (English)
We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints.
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