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Acoustic detection of contact state changes of deformable linear objects
Jan Deiterding , Dominik Henrich , Antoine Schlechter

Abstract (english)
In assembly, objects have to be brought in contact with other objects. In order to deal with the imprecisions in the geometry of the mating objects and in the manipulating system, a lot of research concentrates on describing assembly tasks using contact states and on finding corresponding algorithms to detect contact state transitions or even to determine the current contact state based on sensor data. Typical force-based approaches only evaluate the low frequency effects of changes in the contact situation. Most often, contact forces are measured to decide on contact state changes using simple thresholds. The sound caused by collisions or by different friction coefficients in different contact situations is not evaluated. In this paper, the sound and the vibration generated by a contact is used to

Publication data

Year: 2006
Publication date: 15. May 2006
Source: International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006)
Project: RODEO , A-BOT
Keywords (english): collision detection , deformable objects , jump detection , oscillation , robot control , vibration
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=deiterding2006a

BibTeX

@ARTICLE{deiterding2006a,
  TITLE             = "Acoustic detection of contact state changes of deformable linear objects",
  AUTHOR            = "Deiterding, Jan and Henrich, Dominik and Schlechter, Antoine",
  YEAR              = "2006",
  JOURNAL           = "International Symposium on Robotics (ISR 2006) / 4th German Conference on Robotics (Robotik 2006)",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=deiterding2006a}",
}

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deiterding2006a.Acoustic.detection.of.contact.state.changes.of.deformable.linear.objects.pdf   696.6K   english   PDF   download preprint


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