Publikationsdatenbank
Publication
Environment Guided Handling of Deformable Linear Objects: From Task Demonstration to Task ExecutionJürgen Acker , Dominik Henrich , Björn Kahl
Abstract (english)
The research in the field of assembly operations mainly focuses on the handling of rigid objects. Although non-rigid objects like ropes, wires or steel springs must be handled as well. Therefore, our research investigates the sensor-based handling of deformable linear objects in the field of assembly operations. In this paper, we discuss guidelines for a task description that is able to cope with uncertanties and we analyse the restrictions of such a task description. Also we present the process of automatic generation of the task description from a demonstration in a virtual environment, performed by a human operator.
Publication data
| Year: | 2006 |
| Publication date: | 15. May 2006 |
| Source: | 37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006 |
| Project: | RODEO , ViRoP |
| Keywords (english): | deformable objects , manipulation skills , programming by demonstration |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=acker2006a |
| Free text: | Montagedemo (4.1 MB) and Montagedemo Simulation (2.9 MB) |
BibTeX
@ARTICLE{acker2006a,
TITLE = "Environment Guided Handling of Deformable Linear Objects: From Task Demonstration to Task Execution",
AUTHOR = "Acker, Jürgen and Henrich, Dominik and Kahl, Björn",
YEAR = "2006",
JOURNAL = "37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=acker2006a}",
NOTE = "<a href="/projects/rodeo/files/rodeo-montagedemo-robotik2006-resampled.avi">Montagedemo (4.1 MB)</a> and <a href="/projects/virop/files/virop-montage-demo-robotik2006.02.avi">Montagedemo Simulation (2.9 MB)</a>",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| acker2006a.Environment.Guided.Handling.of.Deformable.Linear. Objects.From.Task.Demonstration.to.Task.Execution.pdf |
536K | english | download preprint |