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Manipulating deformable linear objects: Contact state transitions and transition conditions
Axel Remde , Dominik Henrich , Heinz Wörn

Abstract (english)
This paper deals with the robust manipulation of deformable linear objects such as hoses or wires. We propose manipulation based on thequalitative contact state between the deformable workpiece and a rigid environment. First, we give an enumeration of possible contact states and discuss the main characteristics of each state. Second, we investigate the transitions which are possible between the contact states and derive criteria and conditions for each of them. Finally, we apply the concept of contact states and state transitions to the description of a typical assembly task.

Publication data

Year: 1999
Publication date: 17. October 1999
Source: 1999 IEEE/RSI International Conference on Intelligent Robots and Systems (IROS99), Kyongju, Korea, October 17-21, 1999
Project: HANDFLEX , PARO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=remde1999a

BibTeX

@MISC{remde1999a,
  TITLE             = "Manipulating deformable linear objects: Contact state transitions and transition conditions",
  AUTHOR            = "Remde, Axel and Henrich, Dominik and Wörn, Heinz",
  YEAR              = "1999",
  JOURNAL           = "1999 IEEE/RSI International Conference on Intelligent Robots and Systems (IROS99), Kyongju, Korea, October 17-21, 1999",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=remde1999a}",
}

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remde1999a.Manipulating.deformable.linear.objects.Contact.state.transitions.and.transition.conditions.djvu   100.2K   english   DJVU   download preprint
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