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Manipulating deformable linear objects - Contact states and point contacts -
Dominik Henrich , Tsukasa Ogasawara , Heinz Wörn

Abstract (english)
The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. To distinguish between different non-rigid object behaviors, five classes of deformable objects from a robotic point of view are proposed. Additionally, an enumeration of all possible contact states of one-dimensional objects with polyhedral obstacles is provided. Finally, the qualitative motion behavior of linear objects is analyzed for stable point contacts. Experiments with different materials validate the analytical results.

Publication data

Year: 1999
Publication date: 21. July 1999
Source: 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99), Porto, Portugal, July 21-24, 1999
Project: HANDFLEX , PARO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1999a

BibTeX

@MISC{henrich1999a,
  TITLE             = "Manipulating deformable linear objects - Contact states and point contacts -",
  AUTHOR            = "Henrich, Dominik and Ogasawara, Tsukasa and Wörn, Heinz",
  YEAR              = "1999",
  JOURNAL           = "1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99), Porto, Portugal, July 21-24, 1999",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1999a}",
}

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henrich1999a.Manipulating.deformable.linear.objects.Contact.states.and.point.contacts.djvu   139.5K   english   DJVU   download preprint
henrich1999a.Manipulating.deformable.linear.objects.Contact.states.and.point.contacts.pdf   98.9K   english   PDF   download preprint


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