RODEO

Robotergestützte Manipulation deformierbarer linearer Objekte
Robot-based manipulation of deformable linear objects

Abstract

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.

The project is partially funded by the German research foundation (Deutsche Forschungsgemeinschaft, DFG).

Applications

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

Contact

• Prof. Dr. Dominik HENRICH
• Dipl.-Inf. Jan DEITERDING

Pictures

• Pictures for press usage are available here.
• ICRA2006: "Discontinuity Detection for Force-based Manipulation" High resolution pictures

Videos

The icons below can be clicked to see the video. The size of the video files is between 1 and 5 MB each.

	2007, September		Acker, Jürgen (2007) "Handhabung deformierbarer linearer Objekte basierend auf Kontaktzuständen und optischer Sensorik" Assembly demo with cable
	2007, August		Schlechter, Antoine (2007) "Einhändige kraftbasierte Handhabung deformierbarer linearer Objekte" Two sided assembly of a leaf spring with force-based contact detection
	2007, August		Schlechter, Antoine (2007) "Einhändige kraftbasierte Handhabung deformierbarer linearer Objekte" Vibration-free transport of a leaf spring
	2007, August		Schlechter, Antoine (2007) "Einhändige kraftbasierte Handhabung deformierbarer linearer Objekte" Complete assembly of a leaf spring with force-based contact detection on the far end of the workpiece
	2007, August		Schlechter, Antoine (2007) "Einhändige kraftbasierte Handhabung deformierbarer linearer Objekte" A precalculated near-optimal trajectory for force-based contact detection
	2003, March		Schlechter, Antoine; Henrich, Dominik (2003) "Manipulating Deformable Linear Objects: Programming using Different Manipulation Skills" (SPIEs International Technical Group Newsletter, Robotics and Machine Perception, March 2003, Vol. 12, No. 1)
	2002, September		Schlechter, Antoine ; Henrich, Dominik (2002) "Manipulating Deformable Linear Objects: Manipulation Skill for Active Damping of Oscillations" (IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002)
	2002, May		Yue, Shigang; Henrich, Dominik (2002) "Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration" (IEEE International Conference on Robotics and Automation (ICRA'02) Washington D.C., USA, May 11-15, 2002)
	2002, May		Yue, Shigang; Henrich, Dominik (2002) "Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration" (IEEE International Conference on Robotics and Automation (ICRA'02) Washington D.C., USA, May 11-15, 2002)
	2001, August		Yue, Shigang ; Henrich, Dominik (2001) "Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination" (The 10th International Conference on Advanced Robotics 2001, Aug. 22-25, Budapest, Hungary)
	2001, August		Schlechter, Antoine ; Henrich, Dominik (2001) "Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions" (10th International Conference on Advanced Robotics (ICAR 2001), Budapest, 22.-25. August 2001)
	2001, May		Schmidt, Thorsten W. ; Henrich, Dominik (2001) "Manipulating Deformable Linear Objects: Robot Motions in Single and Multiple Contact Points" (The 4th International Symposium on Assembly and Task Planning (ISATP01); Fukuoka; Japan, 28-29 May 2001)

Publications (RODEO)

• Acker, Jürgen (2008)
  "Handhabung deformierbarer linearer Objekte basierend auf Kontaktzuständen und optischer Sensorik"
  
• Schlechter, Antoine (2007)
  "Einhändige kraftbasierte Handhabung deformierbarer linearer Objekte"
  veröffentlicht im Shaker-Verlag
  
• Yue, Shigang ; Henrich, Dominik (2006)
  "Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill"
  (Journal of Intelligent Robot Systems 46/2006, pp. 201-219)
  
• Schlechter, Antoine ; Henrich, Dominik (2006)
  "Discontinuity Detection for Force-based Manipulation"
  (IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, May 15 - 19, 2006)
  
• Acker, Jürgen ; Henrich, Dominik ; Kahl, Björn (2006)
  "Environment Guided Handling of Deformable Linear Objects: From Task Demonstration to Task Execution"
  (37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006)
  Montagedemo (4.1 MB) and Montagedemo Simulation (2.9 MB)
  
• Timm, Sergej ; Henrich, Dominik ; Kahl, Björn (2005)
  "Manipulation of Deformable Linear Objects: Analysis of two-dimensional static approximation functions"
  (IEEE Int. Conference on Methods and Models in Automation and Robotics (MMAR-2005), 29. Aug - 1. Sep., Miedzyzdroje, Poland)
  
• Kahl, Björn ; Henrich, Dominik (2005)
  "Manipulation of Deformable Linear Objects: Force-based simulation approach for haptic feedback"
  (12th International Conference on Advanced Robotics (ICAR 2005), July 18th-20th, 2005)
  
• Acker, Jürgen ; Henrich, Dominik (2005)
  "Manipulation of Deformable Linear Objects: From Geometric Model Towards Program Generation"
  (2005 IEEE International Conference on Robotics & Automation (ICRA), Barcelona, April 18-22, 2005)
  
• Yue, Shigang ; Henrich, Dominik (2005)
  "Manipulating Deformable Linear Objects: Sensor-Based Skills of Adjustment Motions for Vibration Reduction"
  (Journal of Robotic Systems 22(2), 67-85 (2005))
  
• Schlechter, Antoine ; Acker, Jürgen ; Henrich, Dominik (2004)
  "Handhabung deformierbarer linearer Objekte: Vergleich zwischen kraft- und bildbasierter Erkennung von Kontaktzustandsübergängen"
  (VDI Robotik 2004, München, Deutschland, June 17.-18., 2004)
  
• Acker, Jürgen ; Henrich, Dominik (2003)
  "Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitions"
  (Proc. of the Int. Symp. On Assembly and Task Planning (ISATP’03), Besancon, France, July 10-11, 2003)
  
• Schlechter, Antoine ; Henrich, Dominik (2003)
  "Manipulating Deformable Linear Objects: Programming using Different Manipulation Skills"
  (SPIEs International Technical Group Newsletter, Robotics and Machine Perception, March 2003, Vol. 12, No. 1)
  
• Schlechter, Antoine ; Henrich, Dominik (2002)
  "Manipulating Deformable Linear Objects: Manipulation Skill for Active Damping of Oscillations"
  (IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002)
  
• Yue, Shigang ; Henrich, Dominik (2002)
  "Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration"
  (IEEE International Conference on Robotics and Automation (ICRA'02) Washington D.C., USA, May 11-15, 2002)
  
• Schlechter, Antoine ; Henrich, Dominik (2002)
  "Handhabung deformierbarer linearer Objekte: Programmierung mit verschiedenen Manipulation-Skills"
  (VDI-Bericht 1679 - Tagungshandbuch zur Robotik 2002, Ludwigsburg, 19. und 20. Juni 2002)
  
• Yue, Shigang ; Henrich, Dominik ; Tso, S. K. ; Xu, W. L. (2001)
  "Point-to-Point Trajectory Planning of Flexible Redundant Robot Manipulators Using Genetic Algorithms"
  (Journal of Robotica, vol 20, pp 269-280, 2002)
  
• Yue, Shigang ; Henrich, Dominik (2001)
  "Manipulating Deformable Linear Objects: Attachable Adjustment-Motions for Vibration Reduction"
  (Journal of Robotic Systems, vol 18, no 7, July 2001, pp. 375-389)
  
• Yue, Shigang ; Henrich, Dominik (2001)
  "Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination"
  (The 10th International Conference on Advanced Robotics 2001, Aug. 22-25, Budapest, Hungary)
  
• Yue, Shigang ; Henrich, Dominik (2001)
  "Manipulating Deformable Linear Objects: Model-Based Adjustment-Motion for Vibration Reduction"
  (The 10th International Conference on Advanced Robotics 2001, Aug. 22-25, Budapest, Hungary)
  
• Schmidt, Thorsten W. ; Henrich, Dominik (2001)
  "Manipulating Deformable Linear Objects: Robot Motions in Single and Multiple Contact Points"
  (The 4th International Symposium on Assembly and Task Planning (ISATP01); Fukuoka; Japan, 28-29 May 2001)
  
• Yue, Shigang ; Henrich, Dominik ; Tso, S. K. ; Xu, W. L. (2001)
  "Trajectory Planning in joint space for flexible robots with kinematics redundancy"
  (The IASTED International Conference MODELLING, IDENTIFICATION AND CONTROL February 19-22, 2001, Innsbruck, Austria)
  
• Schlechter, Antoine ; Henrich, Dominik (2001)
  "Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions"
  (10th International Conference on Advanced Robotics (ICAR 2001), Budapest, 22.-25. August 2001)
  

Publications (HANDFLEX)

• Remde, Axel ; Henrich, Dominik (2000)
  "Direct and Inverse Simulation of Deformable Linear Objects"
  (Robot manipulation of deformable objects, Henrich D., Wörn H. (Eds.), Springer-Verlag, London, 2000, ISBN: 1-85233-250-6, pp 43-70)
  
• Abbegg, Frank ; Henrich, Dominik ; Remde, Axel (2000)
  "Force- and Vision-based Detection of Contact State Transitions"
  (Robot manipulation of deformable objects, Henrich D., Wörn H. (Eds.), Springer-Verlag, London, 2000, ISBN: 1-85233-250-6, pp 111-134)
  
• Remde, Axel ; Abbegg, Frank ; Henrich, Dominik ; Wörn, Heinz (2000)
  "Ein allgemeiner Ansatz zur Montage deformierbarer linearer Werkstücke mit Industrierobotern"
  (Robotik 2000, June 29-30, 2000, Berlin, Germany)
  
• Henrich, Dominik ; Wörn, Heinz (2000)
  "Robot Manipulation of Deformable Objects"
  (Advanced Manufacturing Series, Springer-Verlag, London, 2000, ISBN: 1-85233-250-6)
  
• Remde, Axel ; Henrich, Dominik ; Sander, Karl ; Wörn, Heinz (1999)
  "Manipulating deformable linear objects: Efficient simulation of the workpiece behavior"
  (IASTED Int. Conf. on Robotics and Applications (IASTED RA'99), Santa Barbara, California, USA, Oct. 28-30, 1999)
  
• Remde, Axel ; Henrich, Dominik ; Wörn, Heinz (1999)
  "Picking-up deformable linear objects with industrial robots"
  (International Symposium on Robotics (30th ISR), October 27-29, 1999, Tokyo, Japan)
  
• Abbegg, Frank ; Henrich, Dominik ; Wörn, Heinz (1999)
  "Manipulating deformable linear objects - Vision-based recognition of contact state transitions -"
  (The 9th International Conference on Advanced Robotics (ICAR'99), Tokyo, October 25 - 27, 1999, pp. 135-140)
  
• Remde, Axel ; Henrich, Dominik ; Wörn, Heinz (1999)
  "Manipulating deformable linear objects: Contact state transitions and transition conditions"
  (1999 IEEE/RSI International Conference on Intelligent Robots and Systems (IROS99), Kyongju, Korea, October 17-21, 1999)
  
• Henrich, Dominik ; Ogasawara, Tsukasa ; Wörn, Heinz (1999)
  "Manipulating deformable linear objects - Contact states and point contacts -"
  (1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99), Porto, Portugal, July 21-24, 1999)
  
• Remde, Axel ; Henrich, Dominik ; Wörn, Heinz (1998)
  "Flexible Steuerung pneumatischer Greifer durch Proportionalventile"
  (Feinwerktechnik, Mikrotechnik, Mikroelektronik (F&M), vol 12, Dezember 1998, pp 940-943)
  
• Henrich, Dominik ; Abbegg, Frank ; Wörn, Heinz ; Wurll, Christian (1998)
  "A parallel control architecture for industrial robot cells"
  (4th International Symposium on Distributed Autonomous Robotic Systems (DARS’98), Karlsruhe, Germany, May 25-27, 1998, pp 77 - 86)
  

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