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Environment Guided Handling of Deformable Linear Objects: From Task Demonstration to Task Execution
Jürgen Acker , Dominik Henrich , Björn Kahl

Abstract (english)
The research in the field of assembly operations mainly focuses on the handling of rigid objects. Although non-rigid objects like ropes, wires or steel springs must be handled as well. Therefore, our research investigates the sensor-based handling of deformable linear objects in the field of assembly operations. In this paper, we discuss guidelines for a task description that is able to cope with uncertanties and we analyse the restrictions of such a task description. Also we present the process of automatic generation of the task description from a demonstration in a virtual environment, performed by a human operator.

Publication data

Year: 2006
Publication date: 15. May 2006
Source: 37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006
Project: RODEO , ViRoP
Keywords (english): deformable objects , manipulation skills , programming by demonstration
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=acker2006a
Free text: Montagedemo (4.1 MB) and Montagedemo Simulation (2.9 MB)

BibTeX

@ARTICLE{acker2006a,
  TITLE             = "Environment Guided Handling of Deformable Linear Objects: From Task Demonstration to Task Execution",
  AUTHOR            = "Acker, Jürgen and Henrich, Dominik and Kahl, Björn",
  YEAR              = "2006",
  JOURNAL           = "37th International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006); München, Germany May 15th to 17th, 2006",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=acker2006a}",
  NOTE              = "\textless a href=\textquotedbl /projects/rodeo/files/rodeo-montagedemo-robotik2006-resampled.avi\textquotedbl \textgreater Montagedemo (4.1 MB)\textless /a\textgreater  and \textless a href=\textquotedbl /projects/virop/files/virop-montage-demo-robotik2006.02.avi\textquotedbl \textgreater Montagedemo Simulation (2.9 MB)\textless /a\textgreater ",
}

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acker2006a.Environment.Guided.Handling.of.Deformable.Linear.Objects.From.Task.Demonstration.to.Task.Execution.pdf   536K   english   PDF   download preprint


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