Publikationsdatenbank
Publication
Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during VibrationShigang Yue , Dominik Henrich
Abstract (english)
It is difficult for robots to handle a vibrating deformable object. Even for human beings it is a high-risk operation to, for example, insert a vibrating linear object into a small hole. However, fast manipulation using a robot arm is not just a dream; it may be achieved if some important features of the vibration are detected online. In this paper, we present an approach for fast manipulation using a force/torque sensor mounted on the robot's wrist. Template matching method is employed to recognize the vibrational phase of the deformable objects. Therefore, a fast manipulation can be performed with a high success rate, even if there is acute vibration. Experiments inserting a deformable object into a hole are conducted to test the presented method. Results demonstrate that the presented sensor-based online fast manipulation is feasible.
Publication data
| Year: | 2002 |
| Publication date: | 28. March 2002 |
| Source: | IEEE International Conference on Robotics and Automation (ICRA'02) Washington D.C., USA, May 11-15, 2002 |
| Project: | RODEO |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=yue2002a |
BibTeX
@MISC{yue2002a,
TITLE = "Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration",
AUTHOR = "Yue, Shigang and Henrich, Dominik",
YEAR = "2002",
JOURNAL = "IEEE International Conference on Robotics and Automation (ICRA'02) Washington D.C., USA, May 11-15, 2002",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=yue2002a}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| yue2002a.Manipulating.Deformable.Linear.Objects.SensorBased. Fast.Manipulation.during.Vibration.djvu |
106K | english | DJVU | download preprint | |||
| yue2002a.Manipulating.Deformable.Linear.Objects.SensorBased. Fast.Manipulation.during.Vibration.pdf |
832.8K | english | download preprint |