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Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions
Antoine Schlechter , Dominik Henrich

Abstract (english)
This paper deals with the handling of deformable linear objects (DLOs), such as hoses, wires or leaf springs. It investigates the a priori knowledge about the 6-dimensional force/torque signal for a changing contact situation between a DLO and a rigid polyhedral obstacle. The result is a complete list, containing for each contact change the most significant combination of force/torque signal components together with a description of the expected signal curve. This knowledge enables the reliable detection of changes in the DLO contact situation and with it the implementation of sensor-based manipulation skills for all possible contact changes.

Publication data

Year: 2001
Publication date: 08. June 2001
Source: 10th International Conference on Advanced Robotics (ICAR 2001), Budapest, 22.-25. August 2001
Project: RODEO
Keywords (english): assembly , deformable objects , Force-Torque , manipulation skills
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=schlechter2001a

BibTeX

@MISC{schlechter2001a,
  TITLE             = "Manipulating Deformable Linear Objects: Characteristics in Force Signals for Detecting Contact State Transitions",
  AUTHOR            = "Schlechter, Antoine and Henrich, Dominik",
  YEAR              = "2001",
  JOURNAL           = "10th International Conference on Advanced Robotics (ICAR 2001), Budapest, 22.-25. August 2001",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=schlechter2001a}",
}

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schlechter2001a.Manipulating.Deformable.Linear.Objects.Characteristics.in.Force.Signals.for.Detecting.Contact.State.Transitions.djvu   127.2K   english   DJVU   download preprint
schlechter2001a.Manipulating.Deformable.Linear.Objects.Characteristics.in.Force.Signals.for.Detecting.Contact.State.Transitions.pdf   252.2K   english   PDF   download preprint


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