Although deformable linear objects (DLOs), like
cables, are widely used in the majority of life fields and activities, the robotic manipulation of these objects is considerably more complex compared to the rigid-body manipulation and still an open challenge. In this paper, we introduce a new framework using two robotic arms cooperatively manipulating a DLO from an initial shape to a desired one. Based on visual servoing and computer vision techniques, a perception approach is proposed to detect and sample the DLO as a set of virtual feature points. Then, a manipulation planning approach is introduced to map between the motion of the manipulators end-effectors and the DLO points by a Jacobian matrix. To avoid excessive stretching of the DLO, the planning approach generates a path for each DLO point forming profiles between the initial
and desired shapes. It is guaranteed that all these inter-shape
profiles are reachable and maintain the cable length constraint.
The framework including the aforementioned approaches are validated in real-life experiments.