DFG logo This project is partially funded by the
German Research Foundation (Deutsche Forschungsgemeinschaft, DFG).


Robot-based manipulation of deformable linear objects


This research project investigates programming for robots manipulating flexible, one-dimensional workpieces such as cables, hoses, cords and further examines materials like lines, ropes, bars etc.. The main problems encountered are changes in workpiece geometry due to gravity and contact forces and the hardly influenceable inherent flexibility and tolerances of the workpiece itself. To solve this task, two approaches are being investigated and combined: First, a programming method is developed based on a library of sensor-based unit operations. The unit operations implement transitions in a complete contact state model and can therefore be reused for different application domains. Second, this programming method is supported by physical modelling of the workpiece, allowing the workpiece shape and movement to be calculated from the gripper movement or vice versa.


  • Manipulation of rigid or deformable linear objects
  • Execution of automatically generated assembly sequences
  • Assembly and disassembly of a variety of workpieces





Student Jobs / Open Positions

Publications (RODEO)

Publications (HANDFLEX)