Publikationsdatenbank
Publication
Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State TransitionsAntoine Schlechter , Dominik Henrich
Abstract (english)
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires or leaf springs. It investigates the a priori knowledge about the 6-dimensional force/torque signal for a changing contact situation between a DLO and a rigid polyhedral obstacle. The result is a complete list, containing for each contact change the most significant combination of force/torque signal components together with a description of the expected signal curve. This knowledge enables the reliable detection of changes in the DLO contact situation and with it the implementation of sensor-based manipulation skills for all possible contact changes.
Publication data
| Year: | 2001 |
| Publication date: | 08. June 2001 |
| Source: | 10th International Conference on Advanced Robotics (ICAR 2001), Budapest, 22.-25. August 2001 |
| Project: | RODEO |
| Keywords (english): | assembly , deformable objects , Force-Torque , manipulation skills |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=schlechter2001a |
BibTeX
@MISC{schlechter2001a,
TITLE = "Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions",
AUTHOR = "Schlechter, Antoine and Henrich, Dominik",
YEAR = "2001",
JOURNAL = "10th International Conference on Advanced Robotics (ICAR 2001), Budapest, 22.-25. August 2001",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=schlechter2001a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| schlechter2001a.Manipulating.Deformable.Linear.Objects.Chara cteristics.in.Force.Signals.for.Detecting.Contact.State.Tran sitions.djvu |
127.2K | english | DJVU | download preprint | |||
| schlechter2001a.Manipulating.Deformable.Linear.Objects.Chara cteristics.in.Force.Signals.for.Detecting.Contact.State.Tran sitions.pdf |
252.2K | english | download preprint |