Safe dual-arm cable routing using Deformable Linear Objects (DLOs) - M.Sc. thesis at NUST. Covers real-time DLO perception & tracking, Jacobian-based shape control, hierarchical motion planning, and Contact-Aware Control Barrier Functions (CBFs) for collision-free cable manipulation with dual Franka Panda arms in MuJoCo.
python computer-vision thesis robotics motion-planning kalman-filter mujoco perception-pipeline franka-panda dual-arm-manipulation control-barrier-functions deformable-linear-objects cable-routing shape-control
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Updated
Apr 26, 2026 - Python