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Force- and Vision-based Detection of Contact State Transitions
Frank Abbegg , Dominik Henrich , Axel Remde

Abstract (english)
A new and systematic basic approach to force- and vision-based robot manipulation of deformable (non-rigid) linear objects is introduced. This approach reduces the computational needs by using a simple state-oriented model of the objects. These states describe the relation between the deformable and rigid obstacles, and are derived from the object image and its features. We give an enumeration of possible contact states and discuss the main characteristics of each state. We investigate the performance of robust transitions between the contact states and derive criteria and conditions for each of the states and for two sensor systems, i.e. a vision sensor and a force/torque sensor. This results in a new and task-independent approach in regarding the handling of deformable objects and in a sensor-based implementation of manipulation primitives for industrial robots. Thus, the usage of sensor processing is an appropriate solution for our problem. Finally, we apply the concept of contact states and state transitions to the description of a typical assembly task. Experimental results show the feasibility of our approach: A robot performs several contact state transitions which can be combined for solving a more complex task.

Publication data

Year: 2000
Publication date: 08. August 2000
Source: Robot manipulation of deformable objects, Henrich D., Wörn H. (Eds.), Springer-Verlag, London, 2000, ISBN: 1-85233-250-6, pp 111-134
Keywords (english): deformable objects , Force-Torque , manipulation skills


  TITLE             = "Force- and Vision-based Detection of Contact State Transitions",
  AUTHOR            = "Abbegg, Frank and Henrich, Dominik and Remde, Axel",
  YEAR              = "2000",
  JOURNAL           = "Robot manipulation of deformable objects, Henrich D., Wörn H. (Eds.), Springer-Verlag, London, 2000, ISBN: 1-85233-250-6, pp 111-134",
  HOWPUBLISHED      = "\url{}",


Filename   Size   Language   Format
abbegg2000b.Force.and.Visionbased.Detection.of.Contact.State.Transitions.djvu   208.6K   english   DJVU   download preprint
abbegg2000b.Force.and.Visionbased.Detection.of.Contact.State.Transitions.pdf   314.2K   english   PDF   download preprint

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