{"ID":2882663,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.09558","arxiv_id":"2508.09558","title":"CaRoBio: 3D Cable Routing with a Bio-inspired Gripper Fingernail","abstract":"The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a challenging task for robot automation. Common parallel two-finger grippers have the risk of over-squeezing and over-tension when grasping and guiding cables. In this paper, a novel eagle-inspired fingernail is designed and mounted on the gripper fingers, which helps with cable grasping on planar surfaces and in-hand cable guiding operations. Then we present a single-grasp end-to-end 3D cable routing framework utilizing the proposed fingernails, instead of the common pick-and-place strategy. Continuous control is achieved to efficiently manipulate cables through vision-based state estimation of task configurations and offline trajectory planning based on motion primitives. We evaluate the effectiveness of the proposed framework with a variety of cables and channel slots, significantly outperforming the pick-and-place manipulation process under equivalent perceptual conditions. Our reconfigurable task setting and the proposed framework provide a reference for future cable routing manipulations in 3D space.","short_abstract":"The manipulation of deformable linear flexures has a wide range of applications in industry, such as cable routing in automotive manufacturing and textile production. Cable routing, as a complex multi-stage robot manipulation scenario, is a challenging task for robot automation. Common parallel two-finger grippers have...","url_abs":"https://arxiv.org/abs/2508.09558","url_pdf":"https://arxiv.org/pdf/2508.09558v1","authors":"[\"Jiahui Zuo\",\"Boyang Zhang\",\"Fumin Zhang\"]","published":"2025-08-13T07:25:40Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\"]","methods":"[]","has_code":false}