KnotDLO: Toward Interpretable Knot Tying

-- This work presents KnotDLO, a method for one-handed Deformable Linear Object (DLO) knot tying that is robust to occlusion, repeatable for varying rope initial configurations, interpretable for generating motion policies, and requires no human demonstrations or training. Grasp and target waypoints for future DLO states are planned from the current DLO shape. Grasp poses are computed from indexing the tracked piecewise linear curve representing the DLO state based on the current curve shape and are piecewise continuous. KnotDLO computes intermediate waypoints from the geometry of the current DLO state and the desired next state. In 16 trials of knot tying, KnotDLO achieves a 50% success rate in tying an overhand knot from previously unseen configurations.