{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,5]],"date-time":"2026-08-05T18:13:32Z","timestamp":1785953612705,"version":"3.56.0"},"reference-count":73,"publisher":"SAGE Publications","issue":"12-14","license":[{"start":{"date-parts":[[2021,8,6]],"date-time":"2021-08-06T00:00:00Z","timestamp":1628208000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"funder":[{"DOI":"10.13039\/100011512","name":"national science foundation, united arab emirates","doi-asserted-by":"publisher","award":["NSF-1122374"],"award-info":[{"award-number":["NSF-1122374"]}],"id":[{"id":"10.13039\/100011512","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016443","name":"amazon catalyst","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100016443","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"office of naval research","doi-asserted-by":"publisher","award":["N00014-18-1-2815"],"award-info":[{"award-number":["N00014-18-1-2815"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100015599","name":"toyota research institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2021,12]]},"abstract":"<jats:p>Cables are complex, high-dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such as clamps, pins, or rings. We are interested in manipulating freely moving cables, in real time, with a pair of robotic grippers, and with no added mechanical constraints. The main contribution of this paper is a perception and control framework that moves in that direction, and uses real-time tactile feedback to accomplish the task of following a dangling cable. The approach relies on a vision-based tactile sensor, GelSight, that estimates the pose of the cable in the grip, and the friction forces during cable sliding. We achieve the behavior by combining two tactile-based controllers: (1) cable grip controller, where a PD controller combined with a leaky integrator regulates the gripping force to maintain the frictional sliding forces close to a suitable value; and (2) cable pose controller, where an linear\u2013quadratic regulator controller based on a learned linear model of the cable sliding dynamics keeps the cable centered and aligned on the fingertips to prevent the cable from falling from the grip. This behavior is possible with the use of reactive gripper fitted with GelSight-based high-resolution tactile sensors. The robot can follow 1 m of cable in random configurations within two to three hand regrasps, adapting to cables of different materials and thicknesses. We demonstrate a robot grasping a headphone cable, sliding the fingers to the jack connector, and inserting it. To the best of the authors\u2019 knowledge, this is the first implementation of real-time cable following without the aid of mechanical fixtures. Videos are available at http:\/\/gelsight.csail.mit.edu\/cable\/<\/jats:p>","DOI":"10.1177\/02783649211027233","type":"journal-article","created":{"date-parts":[[2021,8,6]],"date-time":"2021-08-06T06:14:05Z","timestamp":1628230445000},"page":"1385-1401","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":210,"title":["Cable manipulation with a tactile-reactive gripper"],"prefix":"10.1177","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5914-3573","authenticated-orcid":false,"given":"Yu","family":"She","sequence":"first","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, MIT, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shaoxiong","family":"Wang","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, MIT, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Siyuan","family":"Dong","sequence":"additional","affiliation":[{"name":"Electrical Engineering and Computer Science, MIT, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Neha","family":"Sunil","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, MIT, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alberto","family":"Rodriguez","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, MIT, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Edward","family":"Adelson","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Lab, MIT, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2021,8,6]]},"reference":[{"key":"bibr1-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0749-1_8"},{"key":"bibr2-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1115\/1.2717231"},{"key":"bibr3-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794298"},{"key":"bibr4-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697007."},{"key":"bibr5-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1145\/1360612.1360662"},{"key":"bibr6-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2852779"},{"key":"bibr7-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.526143"},{"key":"bibr8-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967827"},{"key":"bibr9-02783649211027233","author":"Dong S","year":"2018","journal-title":"Proceedings of IEEE ICRA"},{"key":"bibr10-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968204"},{"key":"bibr11-02783649211027233","unstructured":"Ebert F, Finn C, Dasari S, et al. (2018) Visual foresight: Model-based deep reinforcement learning for vision-based robotic control. arXiv preprint arXiv:1812.00568."},{"key":"bibr12-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826242"},{"key":"bibr13-02783649211027233","author":"Ganapathi A","year":"2020","journal-title":"arXiv preprint arXiv:2003.12698"},{"key":"bibr14-02783649211027233","author":"Ganapathi A","year":"2020","journal-title":"arXiv preprint arXiv:2010.04339"},{"key":"bibr15-02783649211027233","author":"Grannen J","year":"2020","journal-title":"4th Conference on Robot Learning (CoRL)"},{"key":"bibr16-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2017.2753233"},{"key":"bibr17-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196976"},{"key":"bibr18-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593528"},{"key":"bibr19-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000105"},{"key":"bibr20-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1016\/j.precisioneng.2009.06.008"},{"key":"bibr21-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1016\/j.precisioneng.2009.06.007"},{"key":"bibr22-02783649211027233","author":"Hoque R","year":"2020","journal-title":"arXiv preprint arXiv:2003.09044"},{"key":"bibr23-02783649211027233","volume-title":"Compliant Mechanisms","author":"Howell LL","year":"2001"},{"key":"bibr24-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1002\/9781118516485"},{"key":"bibr25-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919359"},{"key":"bibr26-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826101"},{"key":"bibr27-02783649211027233","author":"Li Y","year":"2018","journal-title":"arXiv preprint arXiv:1810.01566"},{"key":"bibr28-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989460"},{"key":"bibr29-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989460"},{"key":"bibr30-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980431"},{"key":"bibr31-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2014.12.002"},{"key":"bibr32-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"bibr33-02783649211027233","author":"Kuppuswamy N","year":"2020","journal-title":"arXiv preprint arXiv:2004.03691"},{"key":"bibr34-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2977257"},{"key":"bibr35-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680743"},{"key":"bibr36-02783649211027233","unstructured":"LaValle SM (1998) Rapidly-Exploring Random Trees: A new tool for path planning. Technical Report 98-11, Department of Computer Science, Iowa State University."},{"key":"bibr37-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2899192"},{"key":"bibr38-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943123"},{"key":"bibr39-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943123"},{"key":"bibr40-02783649211027233","first-page":"837","volume-title":"2013 IEEE International Conference on Intelligent Robots and Systems (IROS)","author":"Lui WH","year":"2013"},{"key":"bibr41-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X360604"},{"key":"bibr42-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920918299"},{"key":"bibr43-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878933"},{"key":"bibr44-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242193"},{"key":"bibr45-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104021"},{"key":"bibr46-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989247"},{"key":"bibr47-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353928"},{"key":"bibr48-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-77457-0_3"},{"key":"bibr49-02783649211027233","doi-asserted-by":"publisher","DOI":"10.3844\/jcssp.2010.872.879"},{"key":"bibr50-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_20"},{"key":"bibr51-02783649211027233","author":"She Y","year":"2019","journal-title":"arXiv preprint arXiv:1910.02860"},{"key":"bibr52-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197121"},{"key":"bibr53-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206058"},{"key":"bibr54-02783649211027233","author":"Tian S","year":"2019","journal-title":"arXiv preprint arXiv:1903.04128"},{"key":"bibr55-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1155\/2009\/910896"},{"key":"bibr56-02783649211027233","author":"Wang A","year":"2019","journal-title":"arXiv preprint arXiv:1905.04411"},{"key":"bibr57-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341006"},{"key":"bibr58-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2005.1615801"},{"key":"bibr59-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139532"},{"key":"bibr60-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0052"},{"key":"bibr61-02783649211027233","author":"Wu Y","year":"2019","journal-title":"Proceedings of Robotics: Science and Systems"},{"key":"bibr62-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803400"},{"key":"bibr63-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5651168"},{"key":"bibr64-02783649211027233","author":"Yamakawa Y","year":"2012","journal-title":"Proceedings IEEE International Conference on Robotics and Automation"},{"key":"bibr65-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399379"},{"key":"bibr66-02783649211027233","author":"Yan M","year":"2019","journal-title":"arXiv preprint arXiv:1911.06283"},{"key":"bibr67-02783649211027233","doi-asserted-by":"publisher","DOI":"10.3390\/s17122762"},{"key":"bibr68-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139016"},{"key":"bibr69-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2017.1285722"},{"key":"bibr70-02783649211027233","author":"Yue S","year":"2002","journal-title":"Proceedings IEEE International Conference on Robotics and Automation"},{"key":"bibr71-02783649211027233","author":"Zhang H","year":"2010","journal-title":"arXiv Preprint arXiv: 2011.04840"},{"key":"bibr72-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593780"},{"key":"bibr73-02783649211027233","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2944304"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211027233","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/02783649211027233","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211027233","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/02783649211027233","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:44Z","timestamp":1777457804000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/02783649211027233"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,8,6]]},"references-count":73,"journal-issue":{"issue":"12-14","published-print":{"date-parts":[[2021,12]]}},"alternative-id":["10.1177\/02783649211027233"],"URL":"https:\/\/doi.org\/10.1177\/02783649211027233","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,8,6]]}}}