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Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitions
Jürgen Acker , Dominik Henrich

Abstract (english)
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires, or leaf springs. It investigates usable features for the vision-based detection of a changing contact situation between a DLO and a rigid polyhedral obstacle and a classification of such contact state transitions. The result is a complete classification of contact state transitions and of the most significant features for each class. This knowledge enables reliable detection of changes in the DLO contact situation, facilitating implementation of sensor-based manipulation skills for all possible contact changes.

Publication data

Year: 2003
Publication date: 21. July 2003
Source: Proc. of the Int. Symp. On Assembly and Task Planning (ISATP
Project: RODEO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=acker2003a

BibTeX

@MISC{acker2003a,
  TITLE             = "Manipulating Deformable Linear Objects: Characteristic Features for Vision-Based Detection of Contact State Transitions",
  AUTHOR            = "Acker, Jürgen and Henrich, Dominik",
  YEAR              = "2003",
  JOURNAL           = "Proc. of the Int. Symp. On Assembly and Task Planning (ISATP",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=acker2003a}",
}

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Filename   Size   Language   Format
acker2003a.Manipulating.Deformable.Linear.Objects.Characteristic.Features.for.VisionBased.Detection.of.Contact.State.Transitions.djvu   93K   english   DJVU   download preprint
acker2003a.Manipulating.Deformable.Linear.Objects.Characteristic.Features.for.VisionBased.Detection.of.Contact.State.Transitions.pdf   482.5K   english   PDF   download preprint


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